# 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_4v5.rte # Mission File: 20070712MAUV.cfg # Distance: 44333.918386 (m) # Estimated Time: 32346 (s) 8.985 (hr) # Abort Time: 33051 (s) # changed to 8.5 hours = 30600 sec # Max battery life: 36000 (s) # Safety margin: 1800 (s) # Ascend time: 1148 (s) # Way Points: 22 # Route Points: 431 # 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 -117.635351 33.347921 -87.411674 0.000000 1 # 1 -117.640291 33.336752 -216.974552 1320.893646 1 # 2 -117.637355 33.333674 -253.781448 1758.064504 1 # 3 -117.640506 33.332886 -296.189362 2064.056366 1 # 4 -117.642653 33.332242 -324.564186 2276.246901 1 # 5 -117.644014 33.330667 -355.317482 2491.971887 1 # 6 -117.645231 33.329879 -376.264221 2635.018024 1 # 7 -117.648667 33.329235 -409.638908 2962.684518 1 # 8 -117.650385 33.328591 -425.475418 3137.799606 1 # 9 -117.648667 33.327087 -345.020111 3368.826356 1 # 10 -117.704582 33.280408 -771.274170 10709.314947 1 # 11 -117.703508 33.279334 -771.937256 10864.821040 1 # 12 -117.647450 33.326157 -315.677414 18226.047913 1 # 13 -117.646376 33.325083 -310.529846 18381.519818 1 # 14 -117.702004 33.278261 -772.340576 25714.382545 1 # 15 -117.700715 33.276757 -773.547363 25919.846229 1 # 16 -117.645445 33.324295 -312.522728 33285.842966 1 # 17 -117.644443 33.323150 -317.271698 33443.366408 1 # 18 -117.680669 33.291649 -660.999069 38298.394834 1 # 19 -117.693843 33.302746 -689.467850 40035.698127 1 # 20 -117.675729 33.318281 -581.931229 42446.113431 1 # 21 -117.661124 33.306468 -558.077682 44333.918386 1 # # A total of 431 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 30600; } # # 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 = 1148; 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 21 # Segment length 11.498911 meters # Minimum depth: 558.077682 meters looking forward 100.000000 meters along route # Maximum depth: 558.077682 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 508.077682 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.306468; longitude = -117.661124; captureRadius = 10; duration = 11; # abortOnTimeout = True; initialDepth = 508.077682; finalDepth = 508.077682; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:508.077682 # Seafloor depth:-558.077682 # 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 102.973490 meters # Minimum depth: 557.613203 meters looking forward 100.000000 meters along route # Maximum depth: 562.120077 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 507.613203 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.306540; longitude = -117.661213; captureRadius = 10; duration = 102; initialDepth = 507.613203; finalDepth = 508.077682; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.099712 # Actual altitude: 50.099712 # Commanded vehicle depth:507.613203 # Seafloor depth:-557.712915 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.40; 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 = 200.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 102.973114 meters # Minimum depth: 560.363476 meters looking forward 100.000000 meters along route # Maximum depth: 562.078163 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 510.363476 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.307184; longitude = -117.662010; captureRadius = 10; duration = 102; initialDepth = 510.363476; finalDepth = 507.613203; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.714687 # Actual altitude: 51.714687 # Commanded vehicle depth:510.363476 # Seafloor depth:-562.078163 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.86; 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 = 206.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 102.972738 meters # Minimum depth: 560.717030 meters looking forward 100.000000 meters along route # Maximum depth: 563.818478 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 510.717030 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.307829; longitude = -117.662806; captureRadius = 10; duration = 102; initialDepth = 510.717030; finalDepth = 510.363476; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.714687 # Actual altitude: 51.714687 # Commanded vehicle depth:510.71703 # Seafloor depth:-560.717030 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.86; 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 = 206.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 102.972362 meters # Minimum depth: 564.777405 meters looking forward 100.000000 meters along route # Maximum depth: 566.322048 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 514.777405 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.308473; longitude = -117.663603; captureRadius = 10; duration = 102; initialDepth = 514.777405; finalDepth = 510.717030; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:514.777405 # Seafloor depth:-564.777405 # 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 102.971986 meters # Minimum depth: 567.350087 meters looking forward 100.000000 meters along route # Maximum depth: 571.550072 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 517.350087 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.309117; longitude = -117.664399; captureRadius = 10; duration = 102; initialDepth = 517.350087; finalDepth = 514.777405; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:517.350087 # Seafloor depth:-567.350087 # 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 102.972910 meters # Minimum depth: 571.900492 meters looking forward 100.000000 meters along route # Maximum depth: 578.572343 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 521.900492 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.309762; longitude = -117.665196; captureRadius = 10; duration = 102; initialDepth = 521.900492; finalDepth = 517.350087; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:521.900492 # Seafloor depth:-571.900492 # 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 102.969934 meters # Minimum depth: 578.572340 meters looking forward 100.000000 meters along route # Maximum depth: 582.386240 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 528.572340 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.310406; longitude = -117.665993; captureRadius = 10; duration = 102; initialDepth = 528.572340; finalDepth = 521.900492; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:528.57234 # Seafloor depth:-578.572340 # 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 102.970857 meters # Minimum depth: 583.719582 meters looking forward 100.000000 meters along route # Maximum depth: 588.469246 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 533.719582 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.311050; longitude = -117.666789; captureRadius = 10; duration = 102; initialDepth = 533.719582; finalDepth = 528.572340; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:533.719582 # Seafloor depth:-583.719582 # 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 102.970482 meters # Minimum depth: 587.820728 meters looking forward 100.000000 meters along route # Maximum depth: 588.644400 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 537.820728 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.311695; longitude = -117.667586; captureRadius = 10; duration = 102; initialDepth = 537.820728; finalDepth = 533.719582; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.230674 # Actual altitude: 50.230674 # Commanded vehicle depth:537.820728 # Seafloor depth:-588.051402 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.92; 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 = 200.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 102.970105 meters # Minimum depth: 587.885870 meters looking forward 100.000000 meters along route # Maximum depth: 588.754480 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 537.885870 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.312339; longitude = -117.668383; captureRadius = 10; duration = 102; initialDepth = 537.885870; finalDepth = 537.820728; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.230674 # Actual altitude: 50.230674 # Commanded vehicle depth:537.88587 # Seafloor depth:-587.885870 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.92; 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 = 200.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 102.969729 meters # Minimum depth: 585.007301 meters looking forward 100.000000 meters along route # Maximum depth: 586.757863 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 535.007301 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.312983; longitude = -117.669179; captureRadius = 10; duration = 102; initialDepth = 535.007301; finalDepth = 537.885870; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.6429000000001 # Actual altitude: 51.6429000000001 # Commanded vehicle depth:535.007301 # Seafloor depth:-586.650201 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.57; 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 = 206.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 102.969354 meters # Minimum depth: 582.540553 meters looking forward 100.000000 meters along route # Maximum depth: 584.620889 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 532.540553 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.313628; longitude = -117.669976; captureRadius = 10; duration = 102; initialDepth = 532.540553; finalDepth = 535.007301; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.080336 # Actual altitude: 52.080336 # Commanded vehicle depth:532.540553 # Seafloor depth:-584.620889 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.32; 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 = 208.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 103.987861 meters # Minimum depth: 579.993982 meters looking forward 100.000000 meters along route # Maximum depth: 582.460621 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 529.993982 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.314272; longitude = -117.670773; captureRadius = 10; duration = 103; initialDepth = 529.993982; finalDepth = 532.540553; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.466639 # Actual altitude: 52.466639 # Commanded vehicle depth:529.993982 # Seafloor depth:-582.460621 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.87; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.99; MB_Bottom_Detect_Filter_Max_Range = 209.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 101.949717 meters # Minimum depth: 566.352660 meters looking forward 100.000000 meters along route # Maximum depth: 579.871637 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 516.352660 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.314923; longitude = -117.671577; captureRadius = 10; duration = 101; initialDepth = 516.352660; finalDepth = 529.993982; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.5189769999999 # Actual altitude: 63.5189769999999 # Commanded vehicle depth:516.35266 # Seafloor depth:-579.871637 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 254.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.41; MB_Bottom_Detect_Filter_Max_Range = 254.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 190.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 102.968225 meters # Minimum depth: 564.131987 meters looking forward 100.000000 meters along route # Maximum depth: 566.592577 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 514.131987 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.315561; longitude = -117.672366; captureRadius = 10; duration = 102; initialDepth = 514.131987; finalDepth = 516.352660; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.5189769999999 # Actual altitude: 63.5189769999999 # Commanded vehicle depth:514.131987 # Seafloor depth:-564.597719 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 254.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.41; MB_Bottom_Detect_Filter_Max_Range = 254.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 190.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 102.967849 meters # Minimum depth: 566.962932 meters looking forward 100.000000 meters along route # Maximum depth: 571.031016 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 516.962932 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.316205; longitude = -117.673162; captureRadius = 10; duration = 102; initialDepth = 516.962932; finalDepth = 514.131987; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.465732 # Actual altitude: 50.465732 # Commanded vehicle depth:516.962932 # Seafloor depth:-566.962932 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.86; 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 = 201.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 108.533683 meters # Minimum depth: 571.077524 meters looking forward 100.000000 meters along route # Maximum depth: 576.276691 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 521.077524 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.316849; longitude = -117.673959; captureRadius = 10; duration = 108; initialDepth = 521.077524; finalDepth = 516.962932; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:521.077524 # Seafloor depth:-571.077524 # 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 120.241648 meters # Minimum depth: 576.499354 meters looking forward 100.000000 meters along route # Maximum depth: 581.451435 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 526.499354 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.317529; longitude = -117.674799; captureRadius = 10; duration = 120; initialDepth = 526.499354; finalDepth = 521.077524; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:526.499354 # Seafloor depth:-576.499354 # 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 20 # Segment length 22.176328 meters # Minimum depth: 579.024934 meters looking forward 100.000000 meters along route # Maximum depth: 582.610865 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 529.024934 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.318281; longitude = -117.675729; captureRadius = 10; duration = 22; # abortOnTimeout = True; initialDepth = 529.024934; finalDepth = 526.499354; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.906295 # Actual altitude: 52.906295 # Commanded vehicle depth:529.024934 # Seafloor depth:-581.931229 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.63; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.16; MB_Bottom_Detect_Filter_Max_Range = 211.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 111.252030 meters # Minimum depth: 582.808562 meters looking forward 100.000000 meters along route # Maximum depth: 587.193619 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 532.808562 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.318138; longitude = -117.675896; captureRadius = 10; duration = 111; initialDepth = 532.808562; finalDepth = 529.024934; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.906295 # Actual altitude: 52.906295 # Commanded vehicle depth:532.808562 # Seafloor depth:-582.808562 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.63; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.16; MB_Bottom_Detect_Filter_Max_Range = 211.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 122.016100 meters # Minimum depth: 587.260935 meters looking forward 100.000000 meters along route # Maximum depth: 592.413090 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 537.260935 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.317421; longitude = -117.676732; captureRadius = 10; duration = 122; initialDepth = 537.260935; finalDepth = 532.808562; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:537.260935 # Seafloor depth:-587.260935 # 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 106.620619 meters # Minimum depth: 592.579022 meters looking forward 100.000000 meters along route # Maximum depth: 595.076000 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 542.579022 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.316635; longitude = -117.677649; captureRadius = 10; duration = 106; initialDepth = 542.579022; finalDepth = 537.260935; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:542.579022 # Seafloor depth:-592.579022 # 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 126.649501 meters # Minimum depth: 594.905537 meters looking forward 100.000000 meters along route # Maximum depth: 599.930499 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 544.905537 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.315947; longitude = -117.678450; captureRadius = 10; duration = 126; initialDepth = 544.905537; finalDepth = 542.579022; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:544.905537 # Seafloor depth:-594.905537 # 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 101.989130 meters # Minimum depth: 598.047358 meters looking forward 100.000000 meters along route # Maximum depth: 602.388054 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 548.047358 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.315131; longitude = -117.679402; captureRadius = 10; duration = 101; initialDepth = 548.047358; finalDepth = 544.905537; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:548.047358 # Seafloor depth:-598.047358 # 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 114.320033 meters # Minimum depth: 600.345802 meters looking forward 100.000000 meters along route # Maximum depth: 603.968243 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 550.345802 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.314474; longitude = -117.680168; captureRadius = 10; duration = 114; initialDepth = 550.345802; finalDepth = 548.047358; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.5175419999999 # Actual altitude: 50.5175419999999 # Commanded vehicle depth:550.345802 # Seafloor depth:-600.863344 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.07; 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 = 202.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 116.937319 meters # Minimum depth: 600.026133 meters looking forward 100.000000 meters along route # Maximum depth: 615.153382 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 550.026133 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.313737; longitude = -117.681027; captureRadius = 10; duration = 116; initialDepth = 550.026133; finalDepth = 550.345802; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.5175419999999 # Actual altitude: 50.5175419999999 # Commanded vehicle depth:550.026133 # Seafloor depth:-600.026133 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.07; 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 = 202.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 111.704180 meters # Minimum depth: 615.226278 meters looking forward 100.000000 meters along route # Maximum depth: 616.570082 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 565.226278 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.312983; longitude = -117.681906; captureRadius = 10; duration = 111; initialDepth = 565.226278; finalDepth = 550.026133; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:565.226278 # Seafloor depth:-615.226278 # 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 121.570775 meters # Minimum depth: 616.654692 meters looking forward 100.000000 meters along route # Maximum depth: 619.838706 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 566.654692 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.312263; longitude = -117.682746; captureRadius = 10; duration = 121; initialDepth = 566.654692; finalDepth = 565.226278; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:566.654692 # Seafloor depth:-616.654692 # 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 107.072637 meters # Minimum depth: 619.692233 meters looking forward 100.000000 meters along route # Maximum depth: 621.455436 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 569.692233 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.311480; longitude = -117.683659; captureRadius = 10; duration = 107; initialDepth = 569.692233; finalDepth = 566.654692; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:569.692233 # Seafloor depth:-619.692233 # 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 126.204308 meters # Minimum depth: 621.374555 meters looking forward 100.000000 meters along route # Maximum depth: 625.994411 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 571.374555 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.310790; longitude = -117.684464; captureRadius = 10; duration = 126; initialDepth = 571.374555; finalDepth = 569.692233; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:571.374555 # Seafloor depth:-621.374555 # 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 102.441017 meters # Minimum depth: 625.788975 meters looking forward 100.000000 meters along route # Maximum depth: 628.718578 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 575.788975 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.309976; longitude = -117.685412; captureRadius = 10; duration = 102; initialDepth = 575.788975; finalDepth = 571.374555; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.270405 # Actual altitude: 50.270405 # Commanded vehicle depth:575.788975 # Seafloor depth:-626.059380 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.11; MB_Bottom_Detect_Filter_Max_Range = 201.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 114.323380 meters # Minimum depth: 624.499156 meters looking forward 100.000000 meters along route # Maximum depth: 634.543777 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 574.499156 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.309316; longitude = -117.686182; captureRadius = 10; duration = 114; initialDepth = 574.499156; finalDepth = 575.788975; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.410436 # Actual altitude: 54.410436 # Commanded vehicle depth:574.499156 # Seafloor depth:-628.909592 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.64; 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 = 217.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 116.491836 meters # Minimum depth: 636.061633 meters looking forward 100.000000 meters along route # Maximum depth: 646.034323 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 586.061633 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.308579; longitude = -117.687041; captureRadius = 10; duration = 116; initialDepth = 586.061633; finalDepth = 574.499156; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.410436 # Actual altitude: 54.410436 # Commanded vehicle depth:586.061633 # Seafloor depth:-636.061633 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.64; 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 = 217.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 112.156357 meters # Minimum depth: 646.220846 meters looking forward 100.000000 meters along route # Maximum depth: 654.656532 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 596.220846 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.307829; longitude = -117.687917; captureRadius = 10; duration = 112; initialDepth = 596.220846; finalDepth = 586.061633; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:596.220846 # Seafloor depth:-646.220846 # 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 121.125423 meters # Minimum depth: 655.654020 meters looking forward 100.000000 meters along route # Maximum depth: 664.584242 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 605.654020 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.307106; longitude = -117.688759; captureRadius = 10; duration = 121; initialDepth = 605.654020; finalDepth = 596.220846; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:605.65402 # Seafloor depth:-655.654020 # 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 107.524684 meters # Minimum depth: 665.088710 meters looking forward 100.000000 meters along route # Maximum depth: 672.140586 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 615.088710 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.306325; longitude = -117.689670; captureRadius = 10; duration = 107; initialDepth = 615.088710; finalDepth = 605.654020; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:615.08871 # Seafloor depth:-665.088710 # 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 125.759088 meters # Minimum depth: 672.654587 meters looking forward 100.000000 meters along route # Maximum depth: 678.806289 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 622.654587 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.305632; longitude = -117.690478; captureRadius = 10; duration = 125; initialDepth = 622.654587; finalDepth = 615.088710; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:622.654587 # Seafloor depth:-672.654587 # 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 102.892931 meters # Minimum depth: 679.107911 meters looking forward 100.000000 meters along route # Maximum depth: 682.113178 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 629.107911 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.304822; longitude = -117.691423; captureRadius = 10; duration = 102; initialDepth = 629.107911; finalDepth = 622.654587; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:629.107911 # Seafloor depth:-679.107911 # 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 114.326727 meters # Minimum depth: 681.868570 meters looking forward 100.000000 meters along route # Maximum depth: 686.490700 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 631.868570 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.304159; longitude = -117.692196; captureRadius = 10; duration = 114; initialDepth = 631.868570; finalDepth = 629.107911; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:631.86857 # Seafloor depth:-681.868570 # 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 104.860901 meters # Minimum depth: 687.470285 meters looking forward 100.000000 meters along route # Maximum depth: 689.011806 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 637.470285 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.303422; longitude = -117.693055; captureRadius = 10; duration = 104; initialDepth = 637.470285; finalDepth = 631.868570; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:637.470285 # Seafloor depth:-687.470285 # 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 19 # Segment length 11.285211 meters # Minimum depth: 688.742974 meters looking forward 100.000000 meters along route # Maximum depth: 689.467850 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 638.742974 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.302746; longitude = -117.693843; captureRadius = 10; duration = 11; # abortOnTimeout = True; initialDepth = 638.742974; finalDepth = 637.470285; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.724876 # Actual altitude: 50.724876 # Commanded vehicle depth:638.742974 # Seafloor depth:-689.467850 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.90; 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 = 202.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 100.872514 meters # Minimum depth: 686.605684 meters looking forward 100.000000 meters along route # Maximum depth: 690.630497 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 636.605684 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.302674; longitude = -117.693757; captureRadius = 10; duration = 100; initialDepth = 636.605684; finalDepth = 638.742974; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.387028 # Actual altitude: 53.387028 # Commanded vehicle depth:636.605684 # Seafloor depth:-689.992712 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.55; 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 = 213.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 100.872866 meters # Minimum depth: 681.677891 meters looking forward 100.000000 meters along route # Maximum depth: 685.923817 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 631.677891 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.302030; longitude = -117.692992; captureRadius = 10; duration = 100; initialDepth = 631.677891; finalDepth = 636.605684; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.2459259999999 # Actual altitude: 54.2459259999999 # Commanded vehicle depth:631.677891 # Seafloor depth:-685.923817 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.98; 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 = 216.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 100.873219 meters # Minimum depth: 676.559739 meters looking forward 100.000000 meters along route # Maximum depth: 681.973904 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 626.559739 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.301385; longitude = -117.692228; captureRadius = 10; duration = 100; initialDepth = 626.559739; finalDepth = 631.677891; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.4141649999999 # Actual altitude: 55.4141649999999 # Commanded vehicle depth:626.559739 # Seafloor depth:-681.973904 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.17; MB_Bottom_Detect_Filter_Max_Range = 221.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 166.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 101.562974 meters # Minimum depth: 673.231597 meters looking forward 100.000000 meters along route # Maximum depth: 676.546073 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 623.231597 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.300741; longitude = -117.691463; captureRadius = 10; duration = 101; initialDepth = 623.231597; finalDepth = 626.559739; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.4141649999999 # Actual altitude: 55.4141649999999 # Commanded vehicle depth:623.231597 # Seafloor depth:-676.546073 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.17; MB_Bottom_Detect_Filter_Max_Range = 221.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 166.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 100.184524 meters # Minimum depth: 671.057659 meters looking forward 100.000000 meters along route # Maximum depth: 673.262494 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 621.057659 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.300092; longitude = -117.690692; captureRadius = 10; duration = 100; initialDepth = 621.057659; finalDepth = 623.231597; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.314476 # Actual altitude: 53.314476 # Commanded vehicle depth:621.057659 # Seafloor depth:-673.262494 # 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 = 159.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 100.874279 meters # Minimum depth: 671.137143 meters looking forward 100.000000 meters along route # Maximum depth: 671.937326 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 621.137143 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.299452; longitude = -117.689933; captureRadius = 10; duration = 100; initialDepth = 621.137143; finalDepth = 621.057659; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.204835 # Actual altitude: 52.204835 # Commanded vehicle depth:621.137143 # Seafloor depth:-671.267807 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.88; MB_Bottom_Detect_Filter_Max_Range = 208.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 100.874631 meters # Minimum depth: 669.308317 meters looking forward 100.000000 meters along route # Maximum depth: 671.742422 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 619.308317 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.298808; longitude = -117.689168; captureRadius = 10; duration = 100; initialDepth = 619.308317; finalDepth = 621.137143; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.733432 # Actual altitude: 51.733432 # Commanded vehicle depth:619.308317 # Seafloor depth:-671.041749 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.93; 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 = 206.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 100.874985 meters # Minimum depth: 672.720023 meters looking forward 100.000000 meters along route # Maximum depth: 682.306963 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 622.720023 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.298164; longitude = -117.688403; captureRadius = 10; duration = 100; initialDepth = 622.720023; finalDepth = 619.308317; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.733432 # Actual altitude: 51.733432 # Commanded vehicle depth:622.720023 # Seafloor depth:-672.720023 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.93; 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 = 206.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 100.875338 meters # Minimum depth: 682.670690 meters looking forward 100.000000 meters along route # Maximum depth: 689.157015 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 632.670690 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.297519; longitude = -117.687638; captureRadius = 10; duration = 100; initialDepth = 632.670690; finalDepth = 622.720023; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:632.67069 # Seafloor depth:-682.670690 # 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 100.875692 meters # Minimum depth: 689.979448 meters looking forward 100.000000 meters along route # Maximum depth: 696.368463 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 639.979448 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.296875; longitude = -117.686873; captureRadius = 10; duration = 100; initialDepth = 639.979448; finalDepth = 632.670690; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:639.979448 # Seafloor depth:-689.979448 # 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 100.876044 meters # Minimum depth: 696.092076 meters looking forward 100.000000 meters along route # Maximum depth: 700.158559 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 646.092076 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.296231; longitude = -117.686108; captureRadius = 10; duration = 100; initialDepth = 646.092076; finalDepth = 639.979448; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:646.092076 # Seafloor depth:-696.092076 # 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 100.876398 meters # Minimum depth: 702.067083 meters looking forward 100.000000 meters along route # Maximum depth: 703.624293 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 652.067083 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.295586; longitude = -117.685343; captureRadius = 10; duration = 100; initialDepth = 652.067083; finalDepth = 646.092076; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.082256 # Actual altitude: 50.082256 # Commanded vehicle depth:652.067083 # Seafloor depth:-702.149339 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.33; 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 = 200.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 100.876750 meters # Minimum depth: 687.700205 meters looking forward 100.000000 meters along route # Maximum depth: 703.836143 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 637.700205 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.294942; longitude = -117.684578; captureRadius = 10; duration = 100; initialDepth = 637.700205; finalDepth = 652.067083; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.308884 # Actual altitude: 65.308884 # Commanded vehicle depth:637.700205 # Seafloor depth:-703.009089 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 261.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.12; MB_Bottom_Detect_Filter_Max_Range = 261.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 195.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 100.877104 meters # Minimum depth: 668.106445 meters looking forward 100.000000 meters along route # Maximum depth: 687.418082 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 618.106445 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.294297; longitude = -117.683813; captureRadius = 10; duration = 100; initialDepth = 618.106445; finalDepth = 637.700205; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.311637 # Actual altitude: 69.311637 # Commanded vehicle depth:618.106445 # Seafloor depth:-687.418082 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 277.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.72; MB_Bottom_Detect_Filter_Max_Range = 277.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 100.877457 meters # Minimum depth: 656.564766 meters looking forward 100.000000 meters along route # Maximum depth: 665.999091 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 606.564766 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.293653; longitude = -117.683048; captureRadius = 10; duration = 100; initialDepth = 606.564766; finalDepth = 618.106445; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.311637 # Actual altitude: 69.311637 # Commanded vehicle depth:606.564766 # Seafloor depth:-665.999091 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 277.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.72; MB_Bottom_Detect_Filter_Max_Range = 277.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 108.987219 meters # Minimum depth: 655.849733 meters looking forward 100.000000 meters along route # Maximum depth: 657.010135 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 605.849733 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.293009; longitude = -117.682283; captureRadius = 10; duration = 108; initialDepth = 605.849733; finalDepth = 606.564766; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.4343250000001 # Actual altitude: 59.4343250000001 # Commanded vehicle depth:605.849733 # Seafloor depth:-656.379579 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 237.74; 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 = 237.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 178.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 103.906088 meters # Minimum depth: 656.194712 meters looking forward 100.000000 meters along route # Maximum depth: 661.403607 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 606.194712 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.292313; longitude = -117.681457; captureRadius = 10; duration = 103; initialDepth = 606.194712; finalDepth = 605.849733; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.529846 # Actual altitude: 50.529846 # Commanded vehicle depth:606.194712 # Seafloor depth:-656.194712 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.12; 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 = 202.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 18 # Segment length 9.545841 meters # Minimum depth: 656.196093 meters looking forward 100.000000 meters along route # Maximum depth: 661.403607 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 606.196093 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.291649; longitude = -117.680669; captureRadius = 10; duration = 9; # abortOnTimeout = True; initialDepth = 606.196093; finalDepth = 606.194712; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.8029759999999 # Actual altitude: 54.8029759999999 # Commanded vehicle depth:606.196093 # Seafloor depth:-660.999069 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.21; 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 = 219.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 100.735134 meters # Minimum depth: 653.673670 meters looking forward 100.000000 meters along route # Maximum depth: 658.635773 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 603.673670 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.291711; longitude = -117.680598; captureRadius = 10; duration = 100; initialDepth = 603.673670; finalDepth = 606.196093; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.962103 # Actual altitude: 54.962103 # Commanded vehicle depth:603.67367 # Seafloor depth:-658.635773 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.98; MB_Bottom_Detect_Filter_Max_Range = 219.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 100.776264 meters # Minimum depth: 647.346940 meters looking forward 100.000000 meters along route # Maximum depth: 651.884797 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 597.346940 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.292364; longitude = -117.679846; captureRadius = 10; duration = 100; initialDepth = 597.346940; finalDepth = 603.673670; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.962103 # Actual altitude: 54.962103 # Commanded vehicle depth:597.34694 # Seafloor depth:-651.884797 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.98; MB_Bottom_Detect_Filter_Max_Range = 219.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 115.148709 meters # Minimum depth: 643.087333 meters looking forward 100.000000 meters along route # Maximum depth: 647.327955 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 593.087333 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.293018; longitude = -117.679094; captureRadius = 10; duration = 115; initialDepth = 593.087333; finalDepth = 597.346940; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.537857 # Actual altitude: 54.537857 # Commanded vehicle depth:593.087333 # Seafloor depth:-647.327955 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.15; 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 = 218.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 115.148229 meters # Minimum depth: 639.213541 meters looking forward 100.000000 meters along route # Maximum depth: 642.563990 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 589.213541 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.293765; longitude = -117.678235; captureRadius = 10; duration = 115; initialDepth = 589.213541; finalDepth = 593.087333; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.240622 # Actual altitude: 54.240622 # Commanded vehicle depth:589.213541 # Seafloor depth:-642.386238 # 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 18 # Segment length 115.147747 meters # Minimum depth: 638.715190 meters looking forward 100.000000 meters along route # Maximum depth: 640.804445 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 588.715190 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.294512; longitude = -117.677376; captureRadius = 10; duration = 115; initialDepth = 588.715190; finalDepth = 589.213541; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.1726970000001 # Actual altitude: 53.1726970000001 # Commanded vehicle depth:588.71519 # Seafloor depth:-639.213400 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.27; MB_Bottom_Detect_Filter_Max_Range = 212.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 115.147267 meters # Minimum depth: 638.612683 meters looking forward 100.000000 meters along route # Maximum depth: 639.713072 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 588.612683 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.295259; longitude = -117.676517; captureRadius = 10; duration = 115; initialDepth = 588.612683; finalDepth = 588.715190; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.49821 # Actual altitude: 50.49821 # Commanded vehicle depth:588.612683 # Seafloor depth:-638.910396 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.99; 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 = 201.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 100.729974 meters # Minimum depth: 638.358328 meters looking forward 100.000000 meters along route # Maximum depth: 641.642365 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 588.358328 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.296007; longitude = -117.675658; captureRadius = 10; duration = 100; initialDepth = 588.358328; finalDepth = 588.612683; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.297713 # Actual altitude: 50.297713 # Commanded vehicle depth:588.358328 # Seafloor depth:-638.358328 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.19; 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 = 201.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 100.776586 meters # Minimum depth: 634.694601 meters looking forward 100.000000 meters along route # Maximum depth: 640.818465 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 584.694601 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.296660; longitude = -117.674906; captureRadius = 10; duration = 100; initialDepth = 584.694601; finalDepth = 588.358328; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.020141 # Actual altitude: 56.020141 # Commanded vehicle depth:584.694601 # Seafloor depth:-640.714742 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 224.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.41; MB_Bottom_Detect_Filter_Max_Range = 224.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 168.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 115.145944 meters # Minimum depth: 607.113267 meters looking forward 100.000000 meters along route # Maximum depth: 634.273730 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 557.113267 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.297314; longitude = -117.674154; captureRadius = 10; duration = 115; initialDepth = 557.113267; finalDepth = 584.694601; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.160463 # Actual altitude: 77.160463 # Commanded vehicle depth:557.113267 # Seafloor depth:-634.273730 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 308.64; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.86; MB_Bottom_Detect_Filter_Max_Range = 308.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 231.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 115.145464 meters # Minimum depth: 607.075755 meters looking forward 100.000000 meters along route # Maximum depth: 607.884640 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 557.075755 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.298061; longitude = -117.673295; captureRadius = 10; duration = 115; initialDepth = 557.075755; finalDepth = 557.113267; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.160463 # Actual altitude: 77.160463 # Commanded vehicle depth:557.075755 # Seafloor depth:-607.835128 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 308.64; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.86; MB_Bottom_Detect_Filter_Max_Range = 308.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 231.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 115.144983 meters # Minimum depth: 602.043194 meters looking forward 100.000000 meters along route # Maximum depth: 607.406973 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 552.043194 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.298808; longitude = -117.672436; captureRadius = 10; duration = 115; initialDepth = 552.043194; finalDepth = 557.075755; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.363779 # Actual altitude: 55.363779 # Commanded vehicle depth:552.043194 # Seafloor depth:-607.406973 # 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 18 # Segment length 115.144502 meters # Minimum depth: 600.991006 meters looking forward 100.000000 meters along route # Maximum depth: 602.729817 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 550.991006 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.299555; longitude = -117.671577; captureRadius = 10; duration = 115; initialDepth = 550.991006; finalDepth = 552.043194; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.363779 # Actual altitude: 55.363779 # Commanded vehicle depth:550.991006 # Seafloor depth:-602.412691 # 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 18 # Segment length 100.724814 meters # Minimum depth: 598.271795 meters looking forward 100.000000 meters along route # Maximum depth: 600.324264 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 548.271795 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.300302; longitude = -117.670718; captureRadius = 10; duration = 100; initialDepth = 548.271795; finalDepth = 550.991006; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.052469 # Actual altitude: 52.052469 # Commanded vehicle depth:548.271795 # Seafloor depth:-600.324264 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.21; 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 = 208.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 100.776907 meters # Minimum depth: 597.414656 meters looking forward 100.000000 meters along route # Maximum depth: 598.123395 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 547.414656 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.300956; longitude = -117.669966; captureRadius = 10; duration = 100; initialDepth = 547.414656; finalDepth = 548.271795; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.052469 # Actual altitude: 52.052469 # Commanded vehicle depth:547.414656 # Seafloor depth:-598.123395 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.21; 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 = 208.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 115.143180 meters # Minimum depth: 593.691809 meters looking forward 100.000000 meters along route # Maximum depth: 597.532071 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 543.691809 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.301610; longitude = -117.669214; captureRadius = 10; duration = 115; initialDepth = 543.691809; finalDepth = 547.414656; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.8402619999999 # Actual altitude: 53.8402619999999 # Commanded vehicle depth:543.691809 # Seafloor depth:-597.532071 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.36; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.54; MB_Bottom_Detect_Filter_Max_Range = 215.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 161.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 115.142699 meters # Minimum depth: 589.602860 meters looking forward 100.000000 meters along route # Maximum depth: 593.768577 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 539.602860 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.302357; longitude = -117.668355; captureRadius = 10; duration = 115; initialDepth = 539.602860; finalDepth = 543.691809; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.1657170000001 # Actual altitude: 54.1657170000001 # Commanded vehicle depth:539.60286 # Seafloor depth:-593.768577 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.66; 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 = 216.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 115.142219 meters # Minimum depth: 585.141831 meters looking forward 100.000000 meters along route # Maximum depth: 589.600991 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 535.141831 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.303104; longitude = -117.667496; captureRadius = 10; duration = 115; initialDepth = 535.141831; finalDepth = 539.602860; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.45916 # Actual altitude: 54.45916 # Commanded vehicle depth:535.141831 # Seafloor depth:-589.600991 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.84; 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 = 217.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 115.141738 meters # Minimum depth: 581.264586 meters looking forward 100.000000 meters along route # Maximum depth: 586.432930 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 531.264586 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.303851; longitude = -117.666637; captureRadius = 10; duration = 115; initialDepth = 531.264586; finalDepth = 535.141831; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.168344 # Actual altitude: 55.168344 # Commanded vehicle depth:531.264586 # Seafloor depth:-586.432930 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.07; MB_Bottom_Detect_Filter_Max_Range = 220.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 165.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 100.719654 meters # Minimum depth: 576.755362 meters looking forward 100.000000 meters along route # Maximum depth: 580.859611 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 526.755362 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.304598; longitude = -117.665778; captureRadius = 10; duration = 100; initialDepth = 526.755362; finalDepth = 531.264586; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.168344 # Actual altitude: 55.168344 # Commanded vehicle depth:526.755362 # Seafloor depth:-580.784903 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.07; MB_Bottom_Detect_Filter_Max_Range = 220.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 165.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 100.777230 meters # Minimum depth: 571.331890 meters looking forward 100.000000 meters along route # Maximum depth: 576.502731 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 521.331890 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.305251; longitude = -117.665026; captureRadius = 10; duration = 100; initialDepth = 521.331890; finalDepth = 526.755362; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.170841 # Actual altitude: 55.170841 # Commanded vehicle depth:521.33189 # Seafloor depth:-576.502731 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.07; MB_Bottom_Detect_Filter_Max_Range = 220.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 165.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 115.140416 meters # Minimum depth: 567.869605 meters looking forward 100.000000 meters along route # Maximum depth: 571.260397 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 517.869605 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.305905; longitude = -117.664275; captureRadius = 10; duration = 115; initialDepth = 517.869605; finalDepth = 521.331890; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.170841 # Actual altitude: 55.170841 # Commanded vehicle depth:517.869605 # Seafloor depth:-571.260397 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.07; MB_Bottom_Detect_Filter_Max_Range = 220.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 165.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 115.139935 meters # Minimum depth: 561.244915 meters looking forward 100.000000 meters along route # Maximum depth: 566.888028 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 511.244915 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.306652; longitude = -117.663415; captureRadius = 10; duration = 115; initialDepth = 511.244915; finalDepth = 517.869605; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.461876 # Actual altitude: 55.461876 # Commanded vehicle depth:511.244915 # Seafloor depth:-566.706791 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.18; MB_Bottom_Detect_Filter_Max_Range = 221.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 166.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 115.139455 meters # Minimum depth: 554.573557 meters looking forward 100.000000 meters along route # Maximum depth: 561.244362 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 504.573557 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.307399; longitude = -117.662556; captureRadius = 10; duration = 115; initialDepth = 504.573557; finalDepth = 511.244915; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.670805 # Actual altitude: 56.670805 # Commanded vehicle depth:504.573557 # Seafloor depth:-561.244362 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.67; MB_Bottom_Detect_Filter_Max_Range = 226.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 170.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 115.138973 meters # Minimum depth: 548.582899 meters looking forward 100.000000 meters along route # Maximum depth: 552.586654 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 498.582899 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.308146; longitude = -117.661697; captureRadius = 10; duration = 115; initialDepth = 498.582899; finalDepth = 504.573557; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.670805 # Actual altitude: 56.670805 # Commanded vehicle depth:498.582899 # Seafloor depth:-551.710346 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.67; MB_Bottom_Detect_Filter_Max_Range = 226.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 170.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 100.714496 meters # Minimum depth: 547.324172 meters looking forward 100.000000 meters along route # Maximum depth: 551.756845 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 497.324172 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.308893; longitude = -117.660838; captureRadius = 10; duration = 100; initialDepth = 497.324172; finalDepth = 498.582899; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.432673 # Actual altitude: 54.432673 # Commanded vehicle depth:497.324172 # Seafloor depth:-551.756845 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.73; 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 = 217.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 100.777552 meters # Minimum depth: 544.069692 meters looking forward 100.000000 meters along route # Maximum depth: 547.341524 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 494.069692 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.309547; longitude = -117.660087; captureRadius = 10; duration = 100; initialDepth = 494.069692; finalDepth = 497.324172; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.432673 # Actual altitude: 54.432673 # Commanded vehicle depth:494.069692 # Seafloor depth:-546.983836 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.73; 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 = 217.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 115.137652 meters # Minimum depth: 544.905934 meters looking forward 100.000000 meters along route # Maximum depth: 547.221634 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 494.905934 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.310201; longitude = -117.659335; captureRadius = 10; duration = 115; initialDepth = 494.905934; finalDepth = 494.069692; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.914144 # Actual altitude: 52.914144 # Commanded vehicle depth:494.905934 # Seafloor depth:-547.221634 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.66; 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 = 211.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 115.137172 meters # Minimum depth: 522.772348 meters looking forward 100.000000 meters along route # Maximum depth: 543.040487 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 472.772348 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.310948; longitude = -117.658475; captureRadius = 10; duration = 115; initialDepth = 472.772348; finalDepth = 494.905934; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.268139 # Actual altitude: 70.268139 # Commanded vehicle depth:472.772348 # Seafloor depth:-543.040487 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 281.07; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.11; MB_Bottom_Detect_Filter_Max_Range = 281.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 115.136691 meters # Minimum depth: 499.051603 meters looking forward 100.000000 meters along route # Maximum depth: 522.765563 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 449.051603 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.311695; longitude = -117.657616; captureRadius = 10; duration = 115; initialDepth = 449.051603; finalDepth = 472.772348; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.71396 # Actual altitude: 73.71396 # Commanded vehicle depth:449.051603 # Seafloor depth:-522.765563 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 294.86; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.49; MB_Bottom_Detect_Filter_Max_Range = 294.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 115.136210 meters # Minimum depth: 480.370016 meters looking forward 100.000000 meters along route # Maximum depth: 495.553503 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 430.370016 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.312442; longitude = -117.656757; captureRadius = 10; duration = 115; initialDepth = 430.370016; finalDepth = 449.051603; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.71396 # Actual altitude: 73.71396 # Commanded vehicle depth:430.370016 # Seafloor depth:-495.553503 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 294.86; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.49; MB_Bottom_Detect_Filter_Max_Range = 294.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 100.709337 meters # Minimum depth: 466.665377 meters looking forward 100.000000 meters along route # Maximum depth: 475.376077 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 416.665377 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.313189; longitude = -117.655898; captureRadius = 10; duration = 100; initialDepth = 416.665377; finalDepth = 430.370016; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.183487 # Actual altitude: 65.183487 # Commanded vehicle depth:416.665377 # Seafloor depth:-475.376077 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 260.73; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.07; MB_Bottom_Detect_Filter_Max_Range = 260.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 195.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 100.777875 meters # Minimum depth: 455.703054 meters looking forward 100.000000 meters along route # Maximum depth: 465.188840 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 405.703054 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.313842; longitude = -117.655147; captureRadius = 10; duration = 100; initialDepth = 405.703054; finalDepth = 416.665377; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.485786 # Actual altitude: 59.485786 # Commanded vehicle depth:405.703054 # Seafloor depth:-465.188840 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 237.94; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.79; MB_Bottom_Detect_Filter_Max_Range = 237.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 178.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 115.134888 meters # Minimum depth: 441.376581 meters looking forward 100.000000 meters along route # Maximum depth: 455.564859 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 391.376581 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.314496; longitude = -117.654395; captureRadius = 10; duration = 115; initialDepth = 391.376581; finalDepth = 405.703054; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.188278 # Actual altitude: 64.188278 # Commanded vehicle depth:391.376581 # Seafloor depth:-455.564859 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 256.75; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.68; MB_Bottom_Detect_Filter_Max_Range = 256.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 192.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 115.134409 meters # Minimum depth: 433.295606 meters looking forward 100.000000 meters along route # Maximum depth: 441.890319 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 383.295606 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.315243; longitude = -117.653536; captureRadius = 10; duration = 115; initialDepth = 383.295606; finalDepth = 391.376581; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.188278 # Actual altitude: 64.188278 # Commanded vehicle depth:383.295606 # Seafloor depth:-441.890319 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 256.75; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.68; MB_Bottom_Detect_Filter_Max_Range = 256.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 192.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 115.133927 meters # Minimum depth: 429.516351 meters looking forward 100.000000 meters along route # Maximum depth: 433.292386 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 379.516351 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.315991; longitude = -117.652676; captureRadius = 10; duration = 115; initialDepth = 379.516351; finalDepth = 383.295606; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.594713 # Actual altitude: 58.594713 # Commanded vehicle depth:379.516351 # Seafloor depth:-433.292386 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 234.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.44; MB_Bottom_Detect_Filter_Max_Range = 234.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 115.133447 meters # Minimum depth: 425.824359 meters looking forward 100.000000 meters along route # Maximum depth: 428.269863 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 375.824359 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.316738; longitude = -117.651817; captureRadius = 10; duration = 115; initialDepth = 375.824359; finalDepth = 379.516351; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.776035 # Actual altitude: 53.776035 # Commanded vehicle depth:375.824359 # Seafloor depth:-428.269863 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.51; MB_Bottom_Detect_Filter_Max_Range = 215.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 161.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 100.704179 meters # Minimum depth: 420.997448 meters looking forward 100.000000 meters along route # Maximum depth: 424.602540 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 370.997448 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.317485; longitude = -117.650958; captureRadius = 10; duration = 100; initialDepth = 370.997448; finalDepth = 375.824359; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.605092 # Actual altitude: 53.605092 # Commanded vehicle depth:370.997448 # Seafloor depth:-424.602540 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.42; 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 = 214.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 100.778198 meters # Minimum depth: 411.387452 meters looking forward 100.000000 meters along route # Maximum depth: 420.094761 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 361.387452 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.318138; longitude = -117.650207; captureRadius = 10; duration = 100; initialDepth = 361.387452; finalDepth = 370.997448; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.707309 # Actual altitude: 58.707309 # Commanded vehicle depth:361.387452 # Seafloor depth:-420.094761 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 234.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.48; MB_Bottom_Detect_Filter_Max_Range = 234.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 176.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 115.132125 meters # Minimum depth: 406.623167 meters looking forward 100.000000 meters along route # Maximum depth: 414.052390 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 356.623167 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.318792; longitude = -117.649455; captureRadius = 10; duration = 115; initialDepth = 356.623167; finalDepth = 361.387452; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.707309 # Actual altitude: 58.707309 # Commanded vehicle depth:356.623167 # Seafloor depth:-411.388755 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 234.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.48; MB_Bottom_Detect_Filter_Max_Range = 234.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 176.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 115.131646 meters # Minimum depth: 392.510309 meters looking forward 100.000000 meters along route # Maximum depth: 404.939109 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 342.510309 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.319539; longitude = -117.648596; captureRadius = 10; duration = 115; initialDepth = 342.510309; finalDepth = 356.623167; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.4288 # Actual altitude: 62.4288 # Commanded vehicle depth:342.510309 # Seafloor depth:-404.939109 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 249.72; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.97; MB_Bottom_Detect_Filter_Max_Range = 249.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 187.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 115.131165 meters # Minimum depth: 377.305445 meters looking forward 100.000000 meters along route # Maximum depth: 392.504888 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 327.305445 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.320286; longitude = -117.647736; captureRadius = 10; duration = 115; initialDepth = 327.305445; finalDepth = 342.510309; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.199443 # Actual altitude: 65.199443 # Commanded vehicle depth:327.305445 # Seafloor depth:-392.504888 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 260.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.08; MB_Bottom_Detect_Filter_Max_Range = 260.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 195.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 115.130684 meters # Minimum depth: 361.760086 meters looking forward 100.000000 meters along route # Maximum depth: 374.725603 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 311.760086 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.321033; longitude = -117.646877; captureRadius = 10; duration = 115; initialDepth = 311.760086; finalDepth = 327.305445; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.199443 # Actual altitude: 65.199443 # Commanded vehicle depth:311.760086 # Seafloor depth:-374.725603 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 260.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.08; MB_Bottom_Detect_Filter_Max_Range = 260.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 195.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 100.699022 meters # Minimum depth: 340.782474 meters looking forward 100.000000 meters along route # Maximum depth: 357.150130 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 290.782474 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.321780; longitude = -117.646018; captureRadius = 10; duration = 100; initialDepth = 290.782474; finalDepth = 311.760086; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.367656 # Actual altitude: 66.367656 # Commanded vehicle depth:290.782474 # Seafloor depth:-357.150130 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 265.47; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.55; MB_Bottom_Detect_Filter_Max_Range = 265.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 199.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 110.393887 meters # Minimum depth: 318.599600 meters looking forward 100.000000 meters along route # Maximum depth: 336.021498 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 268.599600 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.322434; longitude = -117.645267; captureRadius = 10; duration = 110; initialDepth = 268.599600; finalDepth = 290.782474; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.421898 # Actual altitude: 67.421898 # Commanded vehicle depth:268.5996 # Seafloor depth:-336.021498 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 269.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.97; MB_Bottom_Detect_Filter_Max_Range = 269.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 17 # Segment length 49.192328 meters # Minimum depth: 315.952671 meters looking forward 100.000000 meters along route # Maximum depth: 324.119100 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 265.952671 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.323150; longitude = -117.644443; captureRadius = 10; duration = 49; # abortOnTimeout = True; initialDepth = 265.952671; finalDepth = 268.599600; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.421898 # Actual altitude: 67.421898 # Commanded vehicle depth:265.952671 # Seafloor depth:-317.271698 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 269.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.97; MB_Bottom_Detect_Filter_Max_Range = 269.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 108.331114 meters # Minimum depth: 312.489363 meters looking forward 100.000000 meters along route # Maximum depth: 315.757765 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 262.489363 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.323508; longitude = -117.644756; captureRadius = 10; duration = 108; initialDepth = 262.489363; finalDepth = 265.952671; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.268402 # Actual altitude: 53.268402 # Commanded vehicle depth:262.489363 # Seafloor depth:-315.757765 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.07; 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 = 213.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 16 # Segment length 55.444977 meters # Minimum depth: 312.489363 meters looking forward 100.000000 meters along route # Maximum depth: 318.896033 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 262.489363 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.324295; longitude = -117.645445; captureRadius = 10; duration = 55; # abortOnTimeout = True; initialDepth = 262.489363; finalDepth = 262.489363; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.268402 # Actual altitude: 53.268402 # Commanded vehicle depth:262.489363 # Seafloor depth:-312.522728 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.07; 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 = 213.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 106.800335 meters # Minimum depth: 320.015433 meters looking forward 100.000000 meters along route # Maximum depth: 339.617720 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 270.015433 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.323937; longitude = -117.645861; captureRadius = 10; duration = 106; initialDepth = 270.015433; finalDepth = 262.489363; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.0333649999999 # Actual altitude: 50.0333649999999 # Commanded vehicle depth:270.015433 # Seafloor depth:-320.015433 # 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 126.130352 meters # Minimum depth: 341.168281 meters looking forward 100.000000 meters along route # Maximum depth: 359.630897 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 291.168281 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.323248; longitude = -117.646663; captureRadius = 10; duration = 126; initialDepth = 291.168281; finalDepth = 270.015433; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:291.168281 # Seafloor depth:-341.168281 # 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 102.836049 meters # Minimum depth: 361.755414 meters looking forward 100.000000 meters along route # Maximum depth: 377.952185 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 311.755414 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.322434; longitude = -117.647609; captureRadius = 10; duration = 102; initialDepth = 311.755414; finalDepth = 291.168281; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:311.755414 # Seafloor depth:-361.755414 # 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 114.483918 meters # Minimum depth: 378.445682 meters looking forward 100.000000 meters along route # Maximum depth: 390.277508 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 328.445682 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.321770; longitude = -117.648381; captureRadius = 10; duration = 114; initialDepth = 328.445682; finalDepth = 311.755414; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:328.445682 # Seafloor depth:-378.445682 # 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 115.441591 meters # Minimum depth: 392.703749 meters looking forward 100.000000 meters along route # Maximum depth: 408.954388 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 342.703749 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.321031; longitude = -117.649240; captureRadius = 10; duration = 115; initialDepth = 342.703749; finalDepth = 328.445682; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:342.703749 # Seafloor depth:-392.703749 # 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 113.527678 meters # Minimum depth: 409.087382 meters looking forward 100.000000 meters along route # Maximum depth: 417.146201 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 359.087382 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.320286; longitude = -117.650106; captureRadius = 10; duration = 113; initialDepth = 359.087382; finalDepth = 342.703749; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:359.087382 # Seafloor depth:-409.087382 # 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 119.407817 meters # Minimum depth: 420.143737 meters looking forward 100.000000 meters along route # Maximum depth: 429.397270 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 370.143737 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.319553; longitude = -117.650958; captureRadius = 10; duration = 119; initialDepth = 370.143737; finalDepth = 359.087382; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:370.143737 # Seafloor depth:-420.143737 # 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 109.563365 meters # Minimum depth: 426.883397 meters looking forward 100.000000 meters along route # Maximum depth: 428.057153 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 376.883397 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.318782; longitude = -117.651854; captureRadius = 10; duration = 109; initialDepth = 376.883397; finalDepth = 370.143737; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:376.883397 # Seafloor depth:-426.883397 # 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 123.374108 meters # Minimum depth: 428.273403 meters looking forward 100.000000 meters along route # Maximum depth: 436.110028 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 378.273403 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.318075; longitude = -117.652676; captureRadius = 10; duration = 123; initialDepth = 378.273403; finalDepth = 376.883397; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:378.273403 # Seafloor depth:-428.273403 # 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 105.598987 meters # Minimum depth: 437.572891 meters looking forward 100.000000 meters along route # Maximum depth: 442.408373 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 387.572891 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.317279; longitude = -117.653602; captureRadius = 10; duration = 105; initialDepth = 387.572891; finalDepth = 378.273403; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:387.572891 # Seafloor depth:-437.572891 # 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 127.340466 meters # Minimum depth: 443.291761 meters looking forward 100.000000 meters along route # Maximum depth: 452.720756 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 393.291761 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.316597; longitude = -117.654395; captureRadius = 10; duration = 127; initialDepth = 393.291761; finalDepth = 387.572891; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:393.291761 # Seafloor depth:-443.291761 # 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 101.634542 meters # Minimum depth: 454.980029 meters looking forward 100.000000 meters along route # Maximum depth: 465.174735 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 404.980029 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.315775; longitude = -117.655350; captureRadius = 10; duration = 101; initialDepth = 404.980029; finalDepth = 393.291761; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:404.980029 # Seafloor depth:-454.980029 # 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 114.488221 meters # Minimum depth: 465.395621 meters looking forward 100.000000 meters along route # Maximum depth: 473.261046 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 415.395621 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.315120; longitude = -117.656113; captureRadius = 10; duration = 114; initialDepth = 415.395621; finalDepth = 404.980029; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:415.395621 # Seafloor depth:-465.395621 # 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 116.651318 meters # Minimum depth: 475.382248 meters looking forward 100.000000 meters along route # Maximum depth: 496.267147 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 425.382248 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.314381; longitude = -117.656972; captureRadius = 10; duration = 116; initialDepth = 425.382248; finalDepth = 415.395621; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:425.382248 # Seafloor depth:-475.382248 # 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 112.326558 meters # Minimum depth: 496.617975 meters looking forward 100.000000 meters along route # Maximum depth: 517.194576 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 446.617975 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.313628; longitude = -117.657847; captureRadius = 10; duration = 112; initialDepth = 446.617975; finalDepth = 425.382248; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:446.617975 # Seafloor depth:-496.617975 # 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 120.617703 meters # Minimum depth: 519.527296 meters looking forward 100.000000 meters along route # Maximum depth: 538.488377 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 469.527296 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.312903; longitude = -117.658690; captureRadius = 10; duration = 120; initialDepth = 469.527296; finalDepth = 446.617975; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:469.527296 # Seafloor depth:-519.527296 # 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 108.362087 meters # Minimum depth: 539.111605 meters looking forward 100.000000 meters along route # Maximum depth: 544.373197 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 489.111605 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.312124; longitude = -117.659595; captureRadius = 10; duration = 108; initialDepth = 489.111605; finalDepth = 469.527296; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:489.111605 # Seafloor depth:-539.111605 # 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 124.584154 meters # Minimum depth: 543.218740 meters looking forward 100.000000 meters along route # Maximum depth: 548.278961 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 493.218740 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.311425; longitude = -117.660408; captureRadius = 10; duration = 124; initialDepth = 493.218740; finalDepth = 489.111605; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9202749999999 # Actual altitude: 50.9202749999999 # Commanded vehicle depth:493.21874 # Seafloor depth:-544.139015 # 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 16 # Segment length 104.397549 meters # Minimum depth: 548.790148 meters looking forward 100.000000 meters along route # Maximum depth: 554.855104 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 498.790148 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.310621; longitude = -117.661343; captureRadius = 10; duration = 104; initialDepth = 498.790148; finalDepth = 493.218740; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9202749999999 # Actual altitude: 50.9202749999999 # Commanded vehicle depth:498.790148 # Seafloor depth:-548.790148 # 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 16 # Segment length 128.550672 meters # Minimum depth: 554.859145 meters looking forward 100.000000 meters along route # Maximum depth: 558.356054 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 504.859145 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.309947; longitude = -117.662127; captureRadius = 10; duration = 128; initialDepth = 504.859145; finalDepth = 498.790148; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:504.859145 # Seafloor depth:-554.859145 # 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 100.432944 meters # Minimum depth: 559.993627 meters looking forward 100.000000 meters along route # Maximum depth: 565.731994 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 509.993627 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.309117; longitude = -117.663091; captureRadius = 10; duration = 100; initialDepth = 509.993627; finalDepth = 504.859145; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:509.993627 # Seafloor depth:-559.993627 # 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 114.492525 meters # Minimum depth: 565.772167 meters looking forward 100.000000 meters along route # Maximum depth: 570.354407 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 515.772167 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.308469; longitude = -117.663845; captureRadius = 10; duration = 114; initialDepth = 515.772167; finalDepth = 509.993627; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:515.772167 # Seafloor depth:-565.772167 # 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 117.861137 meters # Minimum depth: 571.021167 meters looking forward 100.000000 meters along route # Maximum depth: 575.153331 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 521.021167 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.307730; longitude = -117.664704; captureRadius = 10; duration = 117; initialDepth = 521.021167; finalDepth = 515.772167; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:521.021167 # Seafloor depth:-571.021167 # 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 111.125349 meters # Minimum depth: 575.243105 meters looking forward 100.000000 meters along route # Maximum depth: 579.240915 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 525.243105 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.306970; longitude = -117.665588; captureRadius = 10; duration = 111; initialDepth = 525.243105; finalDepth = 521.021167; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:525.243105 # Seafloor depth:-575.243105 # 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 121.827681 meters # Minimum depth: 579.656075 meters looking forward 100.000000 meters along route # Maximum depth: 582.815109 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 529.656075 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.306252; longitude = -117.666422; captureRadius = 10; duration = 121; initialDepth = 529.656075; finalDepth = 525.243105; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:529.656075 # Seafloor depth:-579.656075 # 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 107.160718 meters # Minimum depth: 583.088055 meters looking forward 100.000000 meters along route # Maximum depth: 585.755415 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 533.088055 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.305466; longitude = -117.667336; captureRadius = 10; duration = 107; initialDepth = 533.088055; finalDepth = 529.656075; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:533.088055 # Seafloor depth:-583.088055 # 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 125.794291 meters # Minimum depth: 585.553409 meters looking forward 100.000000 meters along route # Maximum depth: 588.975463 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 535.553409 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.304774; longitude = -117.668141; captureRadius = 10; duration = 125; initialDepth = 535.553409; finalDepth = 533.088055; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:535.553409 # Seafloor depth:-585.553409 # 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 103.196021 meters # Minimum depth: 585.198502 meters looking forward 100.000000 meters along route # Maximum depth: 588.627535 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 535.198502 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.303963; longitude = -117.669084; captureRadius = 10; duration = 103; initialDepth = 535.198502; finalDepth = 535.553409; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.345097 # Actual altitude: 53.345097 # Commanded vehicle depth:535.198502 # Seafloor depth:-588.543599 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.38; 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 = 213.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 114.495874 meters # Minimum depth: 584.868459 meters looking forward 100.000000 meters along route # Maximum depth: 599.387261 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 534.868459 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.303297; longitude = -117.669859; captureRadius = 10; duration = 114; initialDepth = 534.868459; finalDepth = 535.198502; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.345097 # Actual altitude: 53.345097 # Commanded vehicle depth:534.868459 # Seafloor depth:-584.868459 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.38; 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 = 213.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 115.104412 meters # Minimum depth: 599.739173 meters looking forward 100.000000 meters along route # Maximum depth: 600.887376 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 549.739173 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.302558; longitude = -117.670718; captureRadius = 10; duration = 115; initialDepth = 549.739173; finalDepth = 534.868459; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.0384749999999 # Actual altitude: 50.0384749999999 # Commanded vehicle depth:549.739173 # Seafloor depth:-599.777648 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.15; 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 = 200.15; 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 16 # Segment length 113.888771 meters # Minimum depth: 600.908999 meters looking forward 100.000000 meters along route # Maximum depth: 604.656737 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 550.908999 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.301815; longitude = -117.671582; captureRadius = 10; duration = 113; initialDepth = 550.908999; finalDepth = 549.739173; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.0384749999999 # Actual altitude: 50.0384749999999 # Commanded vehicle depth:550.908999 # Seafloor depth:-600.908999 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.15; 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 = 200.15; 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 16 # Segment length 119.071048 meters # Minimum depth: 605.385943 meters looking forward 100.000000 meters along route # Maximum depth: 606.649766 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 555.385943 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.301080; longitude = -117.672436; captureRadius = 10; duration = 119; initialDepth = 555.385943; finalDepth = 550.908999; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.357514 # Actual altitude: 50.357514 # Commanded vehicle depth:555.385943 # Seafloor depth:-605.743457 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.43; 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 = 201.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 109.924048 meters # Minimum depth: 606.753986 meters looking forward 100.000000 meters along route # Maximum depth: 609.941546 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 556.753986 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.300311; longitude = -117.673330; captureRadius = 10; duration = 109; initialDepth = 556.753986; finalDepth = 555.385943; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.357514 # Actual altitude: 50.357514 # Commanded vehicle depth:556.753986 # Seafloor depth:-606.753986 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.43; 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 = 201.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 123.037752 meters # Minimum depth: 610.180512 meters looking forward 100.000000 meters along route # Maximum depth: 616.984972 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 560.180512 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.299602; longitude = -117.674154; captureRadius = 10; duration = 123; initialDepth = 560.180512; finalDepth = 556.753986; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:560.180512 # Seafloor depth:-610.180512 # 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 105.959259 meters # Minimum depth: 619.262383 meters looking forward 100.000000 meters along route # Maximum depth: 670.295209 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 569.262383 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.298808; longitude = -117.675078; captureRadius = 10; duration = 105; initialDepth = 569.262383; finalDepth = 560.180512; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:569.262383 # Seafloor depth:-619.262383 # 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 127.004521 meters # Minimum depth: 669.825429 meters looking forward 100.000000 meters along route # Maximum depth: 675.409541 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 619.825429 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.298124; longitude = -117.675873; captureRadius = 10; duration = 127; initialDepth = 619.825429; finalDepth = 569.262383; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:619.825429 # Seafloor depth:-669.825429 # 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 101.994403 meters # Minimum depth: 670.485645 meters looking forward 100.000000 meters along route # Maximum depth: 673.038262 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 620.485645 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.297304; longitude = -117.676826; captureRadius = 10; duration = 101; initialDepth = 620.485645; finalDepth = 619.825429; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.2090830000001 # Actual altitude: 51.2090830000001 # Commanded vehicle depth:620.485645 # Seafloor depth:-671.694728 # 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 16 # Segment length 114.500180 meters # Minimum depth: 664.354993 meters looking forward 100.000000 meters along route # Maximum depth: 670.322659 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 614.354993 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.296646; longitude = -117.677591; captureRadius = 10; duration = 114; initialDepth = 614.354993; finalDepth = 620.485645; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.967666 # Actual altitude: 55.967666 # Commanded vehicle depth:614.354993 # Seafloor depth:-670.322659 # 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 = 167.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 116.314254 meters # Minimum depth: 655.713002 meters looking forward 100.000000 meters along route # Maximum depth: 662.767140 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 605.713002 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.295907; longitude = -117.678450; captureRadius = 10; duration = 116; initialDepth = 605.713002; finalDepth = 614.354993; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.0541380000001 # Actual altitude: 57.0541380000001 # Commanded vehicle depth:605.713002 # Seafloor depth:-662.767140 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 228.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.82; MB_Bottom_Detect_Filter_Max_Range = 228.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 171.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 112.687541 meters # Minimum depth: 653.232575 meters looking forward 100.000000 meters along route # Maximum depth: 658.285967 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 603.232575 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.295157; longitude = -117.679323; captureRadius = 10; duration = 112; initialDepth = 603.232575; finalDepth = 605.713002; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.0541380000001 # Actual altitude: 57.0541380000001 # Commanded vehicle depth:603.232575 # Seafloor depth:-658.285967 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 228.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.82; MB_Bottom_Detect_Filter_Max_Range = 228.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 171.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 120.281050 meters # Minimum depth: 652.230999 meters looking forward 100.000000 meters along route # Maximum depth: 655.755386 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 602.230999 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.294429; longitude = -117.680168; captureRadius = 10; duration = 120; initialDepth = 602.230999; finalDepth = 603.232575; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.053392 # Actual altitude: 55.053392 # Commanded vehicle depth:602.230999 # Seafloor depth:-652.719155 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.21; 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 = 220.21; 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 16 # Segment length 108.722659 meters # Minimum depth: 655.718664 meters looking forward 100.000000 meters along route # Maximum depth: 656.080663 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 605.718664 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.293653; longitude = -117.681071; captureRadius = 10; duration = 108; initialDepth = 605.718664; finalDepth = 602.230999; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.488156 # Actual altitude: 50.488156 # Commanded vehicle depth:605.718664 # Seafloor depth:-655.723780 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.95; 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 = 201.95; 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 16 # Segment length 124.247913 meters # Minimum depth: 656.018643 meters looking forward 100.000000 meters along route # Maximum depth: 662.245971 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 606.018643 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.292952; longitude = -117.681886; captureRadius = 10; duration = 124; initialDepth = 606.018643; finalDepth = 605.718664; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.143382 # Actual altitude: 50.143382 # Commanded vehicle depth:606.018643 # Seafloor depth:-656.162025 # 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 16 # Segment length 104.757710 meters # Minimum depth: 661.826820 meters looking forward 100.000000 meters along route # Maximum depth: 671.680620 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 611.826820 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.292150; longitude = -117.682819; captureRadius = 10; duration = 104; initialDepth = 611.826820; finalDepth = 606.018643; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.143382 # Actual altitude: 50.143382 # Commanded vehicle depth:611.82682 # Seafloor depth:-661.826820 # 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 16 # Segment length 128.214843 meters # Minimum depth: 671.970628 meters looking forward 100.000000 meters along route # Maximum depth: 691.879956 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 621.970628 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.291474; longitude = -117.683605; captureRadius = 10; duration = 128; initialDepth = 621.970628; finalDepth = 611.826820; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:621.970628 # Seafloor depth:-671.970628 # 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 100.792695 meters # Minimum depth: 693.877950 meters looking forward 100.000000 meters along route # Maximum depth: 710.596754 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 643.877950 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.290646; longitude = -117.684567; captureRadius = 10; duration = 100; initialDepth = 643.877950; finalDepth = 621.970628; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:643.87795 # Seafloor depth:-693.877950 # 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 114.504487 meters # Minimum depth: 710.700482 meters looking forward 100.000000 meters along route # Maximum depth: 717.571908 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 660.700482 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.289996; longitude = -117.685323; captureRadius = 10; duration = 114; initialDepth = 660.700482; finalDepth = 643.877950; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:660.700482 # Seafloor depth:-710.700482 # 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 117.524188 meters # Minimum depth: 714.665013 meters looking forward 100.000000 meters along route # Maximum depth: 717.175030 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 664.665013 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.289257; longitude = -117.686182; captureRadius = 10; duration = 117; initialDepth = 664.665013; finalDepth = 660.700482; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.2124709999999 # Actual altitude: 52.2124709999999 # Commanded vehicle depth:664.665013 # Seafloor depth:-716.877484 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.88; MB_Bottom_Detect_Filter_Max_Range = 208.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 111.486221 meters # Minimum depth: 716.242977 meters looking forward 100.000000 meters along route # Maximum depth: 720.449113 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 666.242977 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.288498; longitude = -117.687064; captureRadius = 10; duration = 111; initialDepth = 666.242977; finalDepth = 664.665013; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.2124709999999 # Actual altitude: 52.2124709999999 # Commanded vehicle depth:666.242977 # Seafloor depth:-716.544668 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.88; MB_Bottom_Detect_Filter_Max_Range = 208.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 121.491144 meters # Minimum depth: 721.436331 meters looking forward 100.000000 meters along route # Maximum depth: 737.162745 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 671.436331 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.287779; longitude = -117.687900; captureRadius = 10; duration = 121; initialDepth = 671.436331; finalDepth = 666.242977; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.301691 # Actual altitude: 50.301691 # Commanded vehicle depth:671.436331 # Seafloor depth:-721.436331 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.21; 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 = 201.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 107.521180 meters # Minimum depth: 738.243655 meters looking forward 100.000000 meters along route # Maximum depth: 752.984320 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 688.243655 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.286995; longitude = -117.688812; captureRadius = 10; duration = 107; initialDepth = 688.243655; finalDepth = 671.436331; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:688.243655 # Seafloor depth:-738.243655 # 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 125.458166 meters # Minimum depth: 754.139819 meters looking forward 100.000000 meters along route # Maximum depth: 766.126474 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 704.139819 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.286301; longitude = -117.689619; captureRadius = 10; duration = 125; initialDepth = 704.139819; finalDepth = 688.243655; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:704.139819 # Seafloor depth:-754.139819 # 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 103.556072 meters # Minimum depth: 758.945817 meters looking forward 100.000000 meters along route # Maximum depth: 765.609328 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 708.945817 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.285492; longitude = -117.690560; captureRadius = 10; duration = 103; initialDepth = 708.945817; finalDepth = 704.139819; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.577997 # Actual altitude: 56.577997 # Commanded vehicle depth:708.945817 # Seafloor depth:-765.523814 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.31; 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 = 226.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 169.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 114.507837 meters # Minimum depth: 755.681348 meters looking forward 100.000000 meters along route # Maximum depth: 758.850189 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 705.681348 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.284823; longitude = -117.691337; captureRadius = 10; duration = 114; initialDepth = 705.681348; finalDepth = 708.945817; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.577997 # Actual altitude: 56.577997 # Commanded vehicle depth:705.681348 # Seafloor depth:-758.850189 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.31; 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 = 226.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 169.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 114.767166 meters # Minimum depth: 754.722612 meters looking forward 100.000000 meters along route # Maximum depth: 760.298629 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 704.722612 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.284084; longitude = -117.692196; captureRadius = 10; duration = 114; initialDepth = 704.722612; finalDepth = 705.681348; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.168841 # Actual altitude: 53.168841 # Commanded vehicle depth:704.722612 # Seafloor depth:-754.722612 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.27; MB_Bottom_Detect_Filter_Max_Range = 212.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 114.249945 meters # Minimum depth: 760.313650 meters looking forward 100.000000 meters along route # Maximum depth: 762.128644 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 710.313650 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.283344; longitude = -117.693057; captureRadius = 10; duration = 114; initialDepth = 710.313650; finalDepth = 704.722612; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:710.31365 # Seafloor depth:-760.313650 # 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 118.734214 meters # Minimum depth: 762.345167 meters looking forward 100.000000 meters along route # Maximum depth: 764.056597 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 712.345167 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.282606; longitude = -117.693914; captureRadius = 10; duration = 118; initialDepth = 712.345167; finalDepth = 710.313650; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:712.345167 # Seafloor depth:-762.345167 # 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 110.284811 meters # Minimum depth: 764.113331 meters looking forward 100.000000 meters along route # Maximum depth: 765.328454 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 714.113331 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.281840; longitude = -117.694805; captureRadius = 10; duration = 110; initialDepth = 714.113331; finalDepth = 712.345167; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:714.113331 # Seafloor depth:-764.113331 # 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 122.701330 meters # Minimum depth: 765.446685 meters looking forward 100.000000 meters along route # Maximum depth: 766.728789 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 715.446685 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.281129; longitude = -117.695632; captureRadius = 10; duration = 122; initialDepth = 715.446685; finalDepth = 714.113331; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:715.446685 # Seafloor depth:-765.446685 # 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 106.319610 meters # Minimum depth: 766.820470 meters looking forward 100.000000 meters along route # Maximum depth: 767.923727 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 716.820470 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.280337; longitude = -117.696553; captureRadius = 10; duration = 106; initialDepth = 716.820470; finalDepth = 715.446685; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:716.82047 # Seafloor depth:-766.820470 # 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 126.668512 meters # Minimum depth: 767.994213 meters looking forward 100.000000 meters along route # Maximum depth: 769.281663 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 717.994213 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.279651; longitude = -117.697351; captureRadius = 10; duration = 126; initialDepth = 717.994213; finalDepth = 716.820470; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:717.994213 # Seafloor depth:-767.994213 # 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 102.354344 meters # Minimum depth: 769.424337 meters looking forward 100.000000 meters along route # Maximum depth: 770.612854 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 719.424337 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.278833; longitude = -117.698301; captureRadius = 10; duration = 102; initialDepth = 719.424337; finalDepth = 717.994213; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:719.424337 # Seafloor depth:-769.424337 # 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 114.512145 meters # Minimum depth: 770.644017 meters looking forward 100.000000 meters along route # Maximum depth: 771.893629 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 720.644017 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.278173; longitude = -117.699069; captureRadius = 10; duration = 114; initialDepth = 720.644017; finalDepth = 719.424337; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:720.644017 # Seafloor depth:-770.644017 # 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 104.903319 meters # Minimum depth: 772.122698 meters looking forward 100.000000 meters along route # Maximum depth: 773.343765 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 722.122698 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.277434; longitude = -117.699928; captureRadius = 10; duration = 104; initialDepth = 722.122698; finalDepth = 720.644017; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:722.122698 # Seafloor depth:-772.122698 # 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 79.962422 meters # Minimum depth: 773.176327 meters looking forward 100.000000 meters along route # Maximum depth: 773.557991 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 723.176327 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.276757; longitude = -117.700715; captureRadius = 10; duration = 79; # abortOnTimeout = True; initialDepth = 723.176327; finalDepth = 722.122698; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.371036 # Actual altitude: 50.371036 # Commanded vehicle depth:723.176327 # Seafloor depth:-773.547363 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.48; 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 = 201.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 125.501262 meters # Minimum depth: 772.475189 meters looking forward 100.000000 meters along route # Maximum depth: 773.166182 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 722.475189 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.277342; longitude = -117.701217; captureRadius = 10; duration = 125; initialDepth = 722.475189; finalDepth = 723.176327; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.690993 # Actual altitude: 50.690993 # Commanded vehicle depth:722.475189 # Seafloor depth:-773.166182 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.76; 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 = 202.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 14 # Segment length 56.005818 meters # Minimum depth: 771.714842 meters looking forward 100.000000 meters along route # Maximum depth: 772.649542 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 721.714842 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.278261; longitude = -117.702004; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 721.714842; finalDepth = 722.475189; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.690993 # Actual altitude: 50.690993 # Commanded vehicle depth:721.714842 # Seafloor depth:-772.340576 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.76; 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 = 202.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 100.924278 meters # Minimum depth: 770.515838 meters looking forward 100.000000 meters along route # Maximum depth: 771.586555 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 720.515838 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.278619; longitude = -117.701579; captureRadius = 10; duration = 100; initialDepth = 720.515838; finalDepth = 721.714842; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.0707169999999 # Actual altitude: 51.0707169999999 # Commanded vehicle depth:720.515838 # Seafloor depth:-771.586555 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.28; 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 = 204.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 100.923901 meters # Minimum depth: 768.982898 meters looking forward 100.000000 meters along route # Maximum depth: 770.173649 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 718.982898 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.279263; longitude = -117.700814; captureRadius = 10; duration = 100; initialDepth = 718.982898; finalDepth = 720.515838; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.190751 # Actual altitude: 51.190751 # Commanded vehicle depth:718.982898 # Seafloor depth:-770.173649 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.76; 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 = 204.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 100.923525 meters # Minimum depth: 767.496335 meters looking forward 100.000000 meters along route # Maximum depth: 768.820798 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 717.496335 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.279907; longitude = -117.700048; captureRadius = 10; duration = 100; initialDepth = 717.496335; finalDepth = 718.982898; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.3244629999999 # Actual altitude: 51.3244629999999 # Commanded vehicle depth:717.496335 # Seafloor depth:-768.820798 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.30; 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 = 205.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 100.923149 meters # Minimum depth: 766.394601 meters looking forward 100.000000 meters along route # Maximum depth: 767.494597 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 716.394601 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.280552; longitude = -117.699283; captureRadius = 10; duration = 100; initialDepth = 716.394601; finalDepth = 717.496335; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.3244629999999 # Actual altitude: 51.3244629999999 # Commanded vehicle depth:716.394601 # Seafloor depth:-767.494597 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.30; 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 = 205.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 100.922773 meters # Minimum depth: 764.930012 meters looking forward 100.000000 meters along route # Maximum depth: 766.183984 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 714.930012 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.281196; longitude = -117.698517; captureRadius = 10; duration = 100; initialDepth = 714.930012; finalDepth = 716.394601; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.253972 # Actual altitude: 51.253972 # Commanded vehicle depth:714.930012 # Seafloor depth:-766.183984 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.02; 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 = 205.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 100.922396 meters # Minimum depth: 763.850894 meters looking forward 100.000000 meters along route # Maximum depth: 764.882175 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 713.850894 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.281840; longitude = -117.697752; captureRadius = 10; duration = 100; initialDepth = 713.850894; finalDepth = 714.930012; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.253972 # Actual altitude: 51.253972 # Commanded vehicle depth:713.850894 # Seafloor depth:-764.882175 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.02; 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 = 205.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 100.922020 meters # Minimum depth: 762.525609 meters looking forward 100.000000 meters along route # Maximum depth: 763.605712 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 712.525609 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.282485; longitude = -117.696986; captureRadius = 10; duration = 100; initialDepth = 712.525609; finalDepth = 713.850894; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.080103 # Actual altitude: 51.080103 # Commanded vehicle depth:712.525609 # Seafloor depth:-763.605712 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.32; 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 = 204.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 100.921644 meters # Minimum depth: 761.746696 meters looking forward 100.000000 meters along route # Maximum depth: 762.445881 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 711.746696 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.283129; longitude = -117.696221; captureRadius = 10; duration = 100; initialDepth = 711.746696; finalDepth = 712.525609; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.080103 # Actual altitude: 51.080103 # Commanded vehicle depth:711.746696 # Seafloor depth:-762.445881 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.32; 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 = 204.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 100.921267 meters # Minimum depth: 758.654342 meters looking forward 100.000000 meters along route # Maximum depth: 761.757706 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 708.654342 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.283773; longitude = -117.695455; captureRadius = 10; duration = 100; initialDepth = 708.654342; finalDepth = 711.746696; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.0471789999999 # Actual altitude: 53.0471789999999 # Commanded vehicle depth:708.654342 # Seafloor depth:-761.701521 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.19; 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 = 212.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 100.920891 meters # Minimum depth: 757.196646 meters looking forward 100.000000 meters along route # Maximum depth: 758.308845 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 707.196646 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.284418; longitude = -117.694689; captureRadius = 10; duration = 100; initialDepth = 707.196646; finalDepth = 708.654342; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.0471789999999 # Actual altitude: 53.0471789999999 # Commanded vehicle depth:707.196646 # Seafloor depth:-758.256856 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.19; 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 = 212.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 100.920514 meters # Minimum depth: 756.022997 meters looking forward 100.000000 meters along route # Maximum depth: 757.452051 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 706.022997 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.285062; longitude = -117.693924; captureRadius = 10; duration = 100; initialDepth = 706.022997; finalDepth = 707.196646; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.06021 # Actual altitude: 51.06021 # Commanded vehicle depth:706.022997 # Seafloor depth:-756.323964 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.24; 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 = 204.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 100.920139 meters # Minimum depth: 757.911682 meters looking forward 100.000000 meters along route # Maximum depth: 761.941739 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 707.911682 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.285706; longitude = -117.693158; captureRadius = 10; duration = 100; initialDepth = 707.911682; finalDepth = 706.022997; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.300967 # Actual altitude: 50.300967 # Commanded vehicle depth:707.911682 # Seafloor depth:-757.911682 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.20; 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 = 201.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 100.919762 meters # Minimum depth: 761.192282 meters looking forward 100.000000 meters along route # Maximum depth: 766.050924 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 711.192282 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.286351; longitude = -117.692393; captureRadius = 10; duration = 100; initialDepth = 711.192282; finalDepth = 707.911682; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:711.192282 # Seafloor depth:-761.192282 # 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 100.919386 meters # Minimum depth: 751.143862 meters looking forward 100.000000 meters along route # Maximum depth: 764.625696 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 701.143862 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.286995; longitude = -117.691627; captureRadius = 10; duration = 100; initialDepth = 701.143862; finalDepth = 711.192282; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.4818339999999 # Actual altitude: 63.4818339999999 # Commanded vehicle depth:701.143862 # Seafloor depth:-764.625696 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 253.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.39; MB_Bottom_Detect_Filter_Max_Range = 253.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 190.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 100.919009 meters # Minimum depth: 738.146170 meters looking forward 100.000000 meters along route # Maximum depth: 750.070868 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 688.146170 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.287639; longitude = -117.690862; captureRadius = 10; duration = 100; initialDepth = 688.146170; finalDepth = 701.143862; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.4818339999999 # Actual altitude: 63.4818339999999 # Commanded vehicle depth:688.14617 # Seafloor depth:-750.070868 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 253.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.39; MB_Bottom_Detect_Filter_Max_Range = 253.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 190.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 100.918633 meters # Minimum depth: 725.484908 meters looking forward 100.000000 meters along route # Maximum depth: 735.444962 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 675.484908 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.288284; longitude = -117.690096; captureRadius = 10; duration = 100; initialDepth = 675.484908; finalDepth = 688.146170; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.924698 # Actual altitude: 61.924698 # Commanded vehicle depth:675.484908 # Seafloor depth:-735.444962 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 247.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.77; MB_Bottom_Detect_Filter_Max_Range = 247.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 185.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 100.918258 meters # Minimum depth: 715.027607 meters looking forward 100.000000 meters along route # Maximum depth: 724.242426 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 665.027607 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.288928; longitude = -117.689331; captureRadius = 10; duration = 100; initialDepth = 665.027607; finalDepth = 675.484908; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.960054 # Actual altitude: 59.960054 # Commanded vehicle depth:665.027607 # Seafloor depth:-724.242426 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 239.84; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.98; MB_Bottom_Detect_Filter_Max_Range = 239.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 179.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 100.917880 meters # Minimum depth: 711.651675 meters looking forward 100.000000 meters along route # Maximum depth: 714.747295 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 661.651675 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.289572; longitude = -117.688565; captureRadius = 10; duration = 100; initialDepth = 661.651675; finalDepth = 665.027607; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.214819 # Actual altitude: 59.214819 # Commanded vehicle depth:661.651675 # Seafloor depth:-711.884195 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 236.86; 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 = 236.86; 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 14 # Segment length 100.917505 meters # Minimum depth: 713.520470 meters looking forward 100.000000 meters along route # Maximum depth: 716.392443 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 663.520470 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.290217; longitude = -117.687800; captureRadius = 10; duration = 100; initialDepth = 663.520470; finalDepth = 661.651675; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.6510169999999 # Actual altitude: 50.6510169999999 # Commanded vehicle depth:663.52047 # Seafloor depth:-714.171487 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.60; 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 = 202.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 100.917128 meters # Minimum depth: 706.968216 meters looking forward 100.000000 meters along route # Maximum depth: 714.614674 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 656.968216 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.290861; longitude = -117.687034; captureRadius = 10; duration = 100; initialDepth = 656.968216; finalDepth = 663.520470; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.6464580000001 # Actual altitude: 57.6464580000001 # Commanded vehicle depth:656.968216 # Seafloor depth:-714.614674 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 230.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.06; MB_Bottom_Detect_Filter_Max_Range = 230.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 172.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 100.916752 meters # Minimum depth: 689.477409 meters looking forward 100.000000 meters along route # Maximum depth: 705.215906 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 639.477409 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.291505; longitude = -117.686269; captureRadius = 10; duration = 100; initialDepth = 639.477409; finalDepth = 656.968216; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.7384970000001 # Actual altitude: 65.7384970000001 # Commanded vehicle depth:639.477409 # Seafloor depth:-705.215906 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 262.95; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.30; MB_Bottom_Detect_Filter_Max_Range = 262.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 197.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 100.916376 meters # Minimum depth: 678.834594 meters looking forward 100.000000 meters along route # Maximum depth: 689.085593 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 628.834594 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.292150; longitude = -117.685503; captureRadius = 10; duration = 100; initialDepth = 628.834594; finalDepth = 639.477409; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.7384970000001 # Actual altitude: 65.7384970000001 # Commanded vehicle depth:628.834594 # Seafloor depth:-689.085593 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 262.95; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.30; MB_Bottom_Detect_Filter_Max_Range = 262.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 197.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 100.916000 meters # Minimum depth: 672.742854 meters looking forward 100.000000 meters along route # Maximum depth: 677.038438 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 622.742854 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.292794; longitude = -117.684738; captureRadius = 10; duration = 100; initialDepth = 622.742854; finalDepth = 628.834594; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.250999 # Actual altitude: 60.250999 # Commanded vehicle depth:622.742854 # Seafloor depth:-677.038438 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 241.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.10; MB_Bottom_Detect_Filter_Max_Range = 241.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 180.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 100.915624 meters # Minimum depth: 671.775115 meters looking forward 100.000000 meters along route # Maximum depth: 674.478535 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 621.775115 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.293438; longitude = -117.683972; captureRadius = 10; duration = 100; initialDepth = 621.775115; finalDepth = 622.742854; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.2955840000001 # Actual altitude: 54.2955840000001 # Commanded vehicle depth:621.775115 # Seafloor depth:-672.985269 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.18; 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 = 217.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 100.915247 meters # Minimum depth: 673.901083 meters looking forward 100.000000 meters along route # Maximum depth: 682.683286 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 623.901083 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.294083; longitude = -117.683207; captureRadius = 10; duration = 100; initialDepth = 623.901083; finalDepth = 621.775115; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.210154 # Actual altitude: 51.210154 # Commanded vehicle depth:623.901083 # Seafloor depth:-674.790848 # 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 14 # Segment length 101.429549 meters # Minimum depth: 684.039552 meters looking forward 100.000000 meters along route # Maximum depth: 694.309267 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 634.039552 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.294727; longitude = -117.682441; captureRadius = 10; duration = 101; initialDepth = 634.039552; finalDepth = 623.901083; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.889765 # Actual altitude: 50.889765 # Commanded vehicle depth:634.039552 # Seafloor depth:-684.039552 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.56; 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 = 203.56; 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 14 # Segment length 100.399817 meters # Minimum depth: 680.667474 meters looking forward 100.000000 meters along route # Maximum depth: 694.334071 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 630.667474 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.295375; longitude = -117.681672; captureRadius = 10; duration = 100; initialDepth = 630.667474; finalDepth = 634.039552; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.666597 # Actual altitude: 63.666597 # Commanded vehicle depth:630.667474 # Seafloor depth:-694.334071 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 254.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.47; MB_Bottom_Detect_Filter_Max_Range = 254.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 191.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 100.914119 meters # Minimum depth: 667.831210 meters looking forward 100.000000 meters along route # Maximum depth: 680.766980 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 617.831210 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.296016; longitude = -117.680910; captureRadius = 10; duration = 100; initialDepth = 617.831210; finalDepth = 630.667474; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.666597 # Actual altitude: 63.666597 # Commanded vehicle depth:617.83121 # Seafloor depth:-680.766980 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 254.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.47; MB_Bottom_Detect_Filter_Max_Range = 254.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 191.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 100.913743 meters # Minimum depth: 666.220634 meters looking forward 100.000000 meters along route # Maximum depth: 667.710987 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 616.220634 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.296660; longitude = -117.680145; captureRadius = 10; duration = 100; initialDepth = 616.220634; finalDepth = 617.831210; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.9357699999999 # Actual altitude: 62.9357699999999 # Commanded vehicle depth:616.220634 # Seafloor depth:-667.636064 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 251.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.17; MB_Bottom_Detect_Filter_Max_Range = 251.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 188.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 100.913367 meters # Minimum depth: 668.173189 meters looking forward 100.000000 meters along route # Maximum depth: 676.094885 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 618.173189 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.297304; longitude = -117.679379; captureRadius = 10; duration = 100; initialDepth = 618.173189; finalDepth = 616.220634; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.41543 # Actual altitude: 51.41543 # Commanded vehicle depth:618.173189 # Seafloor depth:-668.173189 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.57; MB_Bottom_Detect_Filter_Max_Range = 205.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 100.912990 meters # Minimum depth: 677.014256 meters looking forward 100.000000 meters along route # Maximum depth: 681.445391 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 627.014256 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.297949; longitude = -117.678613; captureRadius = 10; duration = 100; initialDepth = 627.014256; finalDepth = 618.173189; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:627.014256 # Seafloor depth:-677.014256 # 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 100.912615 meters # Minimum depth: 674.990558 meters looking forward 100.000000 meters along route # Maximum depth: 684.325129 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 624.990558 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.298593; longitude = -117.677848; captureRadius = 10; duration = 100; initialDepth = 624.990558; finalDepth = 627.014256; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.8965920000001 # Actual altitude: 58.8965920000001 # Commanded vehicle depth:624.990558 # Seafloor depth:-683.887150 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 235.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.56; MB_Bottom_Detect_Filter_Max_Range = 235.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 176.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 100.912238 meters # Minimum depth: 639.243025 meters looking forward 100.000000 meters along route # Maximum depth: 671.577585 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 589.243025 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.299237; longitude = -117.677082; captureRadius = 10; duration = 100; initialDepth = 589.243025; finalDepth = 624.990558; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.33456 # Actual altitude: 82.33456 # Commanded vehicle depth:589.243025 # Seafloor depth:-671.577585 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 329.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.93; MB_Bottom_Detect_Filter_Max_Range = 329.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 247.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 100.911862 meters # Minimum depth: 626.658038 meters looking forward 100.000000 meters along route # Maximum depth: 633.703916 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 576.658038 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.299882; longitude = -117.676317; captureRadius = 10; duration = 100; initialDepth = 576.658038; finalDepth = 589.243025; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.33456 # Actual altitude: 82.33456 # Commanded vehicle depth:576.658038 # Seafloor depth:-633.703916 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 329.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.93; MB_Bottom_Detect_Filter_Max_Range = 329.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 247.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 100.911486 meters # Minimum depth: 622.009537 meters looking forward 100.000000 meters along route # Maximum depth: 625.953121 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 572.009537 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.300526; longitude = -117.675551; captureRadius = 10; duration = 100; initialDepth = 572.009537; finalDepth = 576.658038; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.045878 # Actual altitude: 57.045878 # Commanded vehicle depth:572.009537 # Seafloor depth:-625.953121 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 228.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.82; MB_Bottom_Detect_Filter_Max_Range = 228.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 171.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 100.911110 meters # Minimum depth: 619.637597 meters looking forward 100.000000 meters along route # Maximum depth: 621.928831 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 569.637597 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.301170; longitude = -117.674786; captureRadius = 10; duration = 100; initialDepth = 569.637597; finalDepth = 572.009537; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.943584 # Actual altitude: 53.943584 # Commanded vehicle depth:569.637597 # Seafloor depth:-621.928831 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.58; MB_Bottom_Detect_Filter_Max_Range = 215.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 161.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 100.910734 meters # Minimum depth: 620.285817 meters looking forward 100.000000 meters along route # Maximum depth: 621.713597 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 570.285817 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.301815; longitude = -117.674020; captureRadius = 10; duration = 100; initialDepth = 570.285817; finalDepth = 569.637597; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.2912339999999 # Actual altitude: 52.2912339999999 # Commanded vehicle depth:570.285817 # Seafloor depth:-620.285817 # 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 100.910358 meters # Minimum depth: 621.636143 meters looking forward 100.000000 meters along route # Maximum depth: 623.638747 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 571.636143 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.302459; longitude = -117.673255; captureRadius = 10; duration = 100; initialDepth = 571.636143; finalDepth = 570.285817; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:571.636143 # Seafloor depth:-621.636143 # 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 100.909981 meters # Minimum depth: 621.862945 meters looking forward 100.000000 meters along route # Maximum depth: 624.105557 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 571.862945 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.303103; longitude = -117.672489; captureRadius = 10; duration = 100; initialDepth = 571.862945; finalDepth = 571.636143; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.053045 # Actual altitude: 52.053045 # Commanded vehicle depth:571.862945 # Seafloor depth:-623.915990 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.21; 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 = 208.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 100.909606 meters # Minimum depth: 610.619182 meters looking forward 100.000000 meters along route # Maximum depth: 617.695467 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 560.619182 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.303748; longitude = -117.671724; captureRadius = 10; duration = 100; initialDepth = 560.619182; finalDepth = 571.862945; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.076285 # Actual altitude: 57.076285 # Commanded vehicle depth:560.619182 # Seafloor depth:-617.695467 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 228.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.83; MB_Bottom_Detect_Filter_Max_Range = 228.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 171.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 100.909230 meters # Minimum depth: 608.323443 meters looking forward 100.000000 meters along route # Maximum depth: 610.015361 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 558.323443 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.304392; longitude = -117.670958; captureRadius = 10; duration = 100; initialDepth = 558.323443; finalDepth = 560.619182; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.076285 # Actual altitude: 57.076285 # Commanded vehicle depth:558.323443 # Seafloor depth:-610.015361 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 228.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.83; MB_Bottom_Detect_Filter_Max_Range = 228.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 171.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 100.908853 meters # Minimum depth: 603.855883 meters looking forward 100.000000 meters along route # Maximum depth: 609.157820 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 553.855883 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.305036; longitude = -117.670193; captureRadius = 10; duration = 100; initialDepth = 553.855883; finalDepth = 558.323443; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.3019370000001 # Actual altitude: 55.3019370000001 # Commanded vehicle depth:553.855883 # Seafloor depth:-609.157820 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.21; 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 = 221.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 165.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 100.908478 meters # Minimum depth: 598.516904 meters looking forward 100.000000 meters along route # Maximum depth: 603.836990 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 548.516904 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.305681; longitude = -117.669427; captureRadius = 10; duration = 100; initialDepth = 548.516904; finalDepth = 553.855883; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.3200860000001 # Actual altitude: 55.3200860000001 # Commanded vehicle depth:548.516904 # Seafloor depth:-603.836990 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.13; MB_Bottom_Detect_Filter_Max_Range = 221.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 165.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 100.908101 meters # Minimum depth: 593.400539 meters looking forward 100.000000 meters along route # Maximum depth: 597.486831 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 543.400539 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.306325; longitude = -117.668662; captureRadius = 10; duration = 100; initialDepth = 543.400539; finalDepth = 548.516904; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.3200860000001 # Actual altitude: 55.3200860000001 # Commanded vehicle depth:543.400539 # Seafloor depth:-597.486831 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.13; MB_Bottom_Detect_Filter_Max_Range = 221.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 165.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 100.907726 meters # Minimum depth: 589.045927 meters looking forward 100.000000 meters along route # Maximum depth: 593.130062 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 539.045927 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.306970; longitude = -117.667896; captureRadius = 10; duration = 100; initialDepth = 539.045927; finalDepth = 543.400539; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.0862920000001 # Actual altitude: 54.0862920000001 # Commanded vehicle depth:539.045927 # Seafloor depth:-593.130062 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.35; 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 = 216.35; 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 100.907349 meters # Minimum depth: 582.539901 meters looking forward 100.000000 meters along route # Maximum depth: 587.520679 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 532.539901 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.307614; longitude = -117.667131; captureRadius = 10; duration = 100; initialDepth = 532.539901; finalDepth = 539.045927; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.980778 # Actual altitude: 54.980778 # Commanded vehicle depth:532.539901 # Seafloor depth:-587.520679 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.99; MB_Bottom_Detect_Filter_Max_Range = 219.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 100.906974 meters # Minimum depth: 577.402150 meters looking forward 100.000000 meters along route # Maximum depth: 581.986939 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 527.402150 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.308258; longitude = -117.666365; captureRadius = 10; duration = 100; initialDepth = 527.402150; finalDepth = 532.539901; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.980778 # Actual altitude: 54.980778 # Commanded vehicle depth:527.40215 # Seafloor depth:-581.986939 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.99; MB_Bottom_Detect_Filter_Max_Range = 219.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 100.906597 meters # Minimum depth: 570.330067 meters looking forward 100.000000 meters along route # Maximum depth: 575.091516 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 520.330067 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.308903; longitude = -117.665600; captureRadius = 10; duration = 100; initialDepth = 520.330067; finalDepth = 527.402150; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.761449 # Actual altitude: 54.761449 # Commanded vehicle depth:520.330067 # Seafloor depth:-575.091516 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.05; 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 = 219.05; 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 14 # Segment length 100.906222 meters # Minimum depth: 565.787726 meters looking forward 100.000000 meters along route # Maximum depth: 569.243939 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 515.787726 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.309547; longitude = -117.664834; captureRadius = 10; duration = 100; initialDepth = 515.787726; finalDepth = 520.330067; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.761449 # Actual altitude: 54.761449 # Commanded vehicle depth:515.787726 # Seafloor depth:-569.243939 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.05; 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 = 219.05; 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 14 # Segment length 100.905845 meters # Minimum depth: 558.381515 meters looking forward 100.000000 meters along route # Maximum depth: 561.787705 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 508.381515 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.310191; longitude = -117.664069; captureRadius = 10; duration = 100; initialDepth = 508.381515; finalDepth = 515.787726; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.4562129999999 # Actual altitude: 53.4562129999999 # Commanded vehicle depth:508.381515 # Seafloor depth:-561.215158 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.82; 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 = 213.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 100.905470 meters # Minimum depth: 554.355843 meters looking forward 100.000000 meters along route # Maximum depth: 557.866453 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 504.355843 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.310836; longitude = -117.663303; captureRadius = 10; duration = 100; initialDepth = 504.355843; finalDepth = 508.381515; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.5106099999999 # Actual altitude: 53.5106099999999 # Commanded vehicle depth:504.355843 # Seafloor depth:-557.866453 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.04; 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 = 214.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 100.905093 meters # Minimum depth: 548.641440 meters looking forward 100.000000 meters along route # Maximum depth: 554.610586 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 498.641440 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.311480; longitude = -117.662538; captureRadius = 10; duration = 100; initialDepth = 498.641440; finalDepth = 504.355843; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.969146 # Actual altitude: 55.969146 # Commanded vehicle depth:498.64144 # Seafloor depth:-554.610586 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.88; 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 = 223.88; 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 14 # Segment length 100.904718 meters # Minimum depth: 544.400867 meters looking forward 100.000000 meters along route # Maximum depth: 547.827738 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 494.400867 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.312124; longitude = -117.661772; captureRadius = 10; duration = 100; initialDepth = 494.400867; finalDepth = 498.641440; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.969146 # Actual altitude: 55.969146 # Commanded vehicle depth:494.400867 # Seafloor depth:-547.790933 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.88; 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 = 223.88; 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 14 # Segment length 100.904342 meters # Minimum depth: 536.663562 meters looking forward 100.000000 meters along route # Maximum depth: 543.917086 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 486.663562 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.312769; longitude = -117.661006; captureRadius = 10; duration = 100; initialDepth = 486.663562; finalDepth = 494.400867; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.2535240000001 # Actual altitude: 57.2535240000001 # Commanded vehicle depth:486.663562 # Seafloor depth:-543.917086 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 229.01; 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 = 229.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 171.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 100.903966 meters # Minimum depth: 519.311761 meters looking forward 100.000000 meters along route # Maximum depth: 534.303647 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 469.311761 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.313413; longitude = -117.660241; captureRadius = 10; duration = 100; initialDepth = 469.311761; finalDepth = 486.663562; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.9918859999999 # Actual altitude: 64.9918859999999 # Commanded vehicle depth:469.311761 # Seafloor depth:-534.303647 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 259.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.00; MB_Bottom_Detect_Filter_Max_Range = 259.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 194.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 100.903589 meters # Minimum depth: 501.856044 meters looking forward 100.000000 meters along route # Maximum depth: 517.377600 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 451.856044 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.314057; longitude = -117.659475; captureRadius = 10; duration = 100; initialDepth = 451.856044; finalDepth = 469.311761; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.521556 # Actual altitude: 65.521556 # Commanded vehicle depth:451.856044 # Seafloor depth:-517.377600 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 262.09; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.21; MB_Bottom_Detect_Filter_Max_Range = 262.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 196.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 100.903214 meters # Minimum depth: 481.292188 meters looking forward 100.000000 meters along route # Maximum depth: 496.670288 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 431.292188 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.314702; longitude = -117.658710; captureRadius = 10; duration = 100; initialDepth = 431.292188; finalDepth = 451.856044; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.521556 # Actual altitude: 65.521556 # Commanded vehicle depth:431.292188 # Seafloor depth:-496.670288 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 262.09; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.21; MB_Bottom_Detect_Filter_Max_Range = 262.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 196.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 100.902838 meters # Minimum depth: 470.445843 meters looking forward 100.000000 meters along route # Maximum depth: 479.055621 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 420.445843 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.315346; longitude = -117.657944; captureRadius = 10; duration = 100; initialDepth = 420.445843; finalDepth = 431.292188; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.3781 # Actual altitude: 65.3781 # Commanded vehicle depth:420.445843 # Seafloor depth:-479.055621 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 261.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.15; MB_Bottom_Detect_Filter_Max_Range = 261.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 196.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 100.902462 meters # Minimum depth: 460.001172 meters looking forward 100.000000 meters along route # Maximum depth: 470.316820 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 410.001172 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.315990; longitude = -117.657179; captureRadius = 10; duration = 100; initialDepth = 410.001172; finalDepth = 420.445843; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.315648 # Actual altitude: 60.315648 # Commanded vehicle depth:410.001172 # Seafloor depth:-470.316820 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 241.26; 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 = 241.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 180.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 100.902087 meters # Minimum depth: 442.010124 meters looking forward 100.000000 meters along route # Maximum depth: 454.261524 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 392.010124 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.316635; longitude = -117.656413; captureRadius = 10; duration = 100; initialDepth = 392.010124; finalDepth = 410.001172; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.2514 # Actual altitude: 62.2514 # Commanded vehicle depth:392.010124 # Seafloor depth:-454.261524 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 249.01; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.90; MB_Bottom_Detect_Filter_Max_Range = 249.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 186.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 100.901710 meters # Minimum depth: 440.239944 meters looking forward 100.000000 meters along route # Maximum depth: 441.401333 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 390.239944 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.317279; longitude = -117.655648; captureRadius = 10; duration = 100; initialDepth = 390.239944; finalDepth = 392.010124; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.2514 # Actual altitude: 62.2514 # Commanded vehicle depth:390.239944 # Seafloor depth:-441.401333 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 249.01; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.90; MB_Bottom_Detect_Filter_Max_Range = 249.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 186.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 100.901334 meters # Minimum depth: 434.432555 meters looking forward 100.000000 meters along route # Maximum depth: 438.843336 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 384.432555 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.317923; longitude = -117.654882; captureRadius = 10; duration = 100; initialDepth = 384.432555; finalDepth = 390.239944; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.766981 # Actual altitude: 52.766981 # Commanded vehicle depth:384.432555 # Seafloor depth:-437.199536 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.07; 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 = 211.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 100.900959 meters # Minimum depth: 431.699576 meters looking forward 100.000000 meters along route # Maximum depth: 434.425584 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 381.699576 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.318568; longitude = -117.654117; captureRadius = 10; duration = 100; initialDepth = 381.699576; finalDepth = 384.432555; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.766981 # Actual altitude: 52.766981 # Commanded vehicle depth:381.699576 # Seafloor depth:-434.316213 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.07; 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 = 211.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 100.900583 meters # Minimum depth: 427.346772 meters looking forward 100.000000 meters along route # Maximum depth: 430.571721 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 377.346772 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.319212; longitude = -117.653351; captureRadius = 10; duration = 100; initialDepth = 377.346772; finalDepth = 381.699576; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.224949 # Actual altitude: 53.224949 # Commanded vehicle depth:377.346772 # Seafloor depth:-430.571721 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.90; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.29; MB_Bottom_Detect_Filter_Max_Range = 212.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 101.283004 meters # Minimum depth: 415.215493 meters looking forward 100.000000 meters along route # Maximum depth: 427.363447 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 365.215493 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.319856; longitude = -117.652586; captureRadius = 10; duration = 101; initialDepth = 365.215493; finalDepth = 377.346772; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.147954 # Actual altitude: 62.147954 # Commanded vehicle depth:365.215493 # Seafloor depth:-427.363447 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 248.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.86; MB_Bottom_Detect_Filter_Max_Range = 248.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 186.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 100.517034 meters # Minimum depth: 407.822688 meters looking forward 100.000000 meters along route # Maximum depth: 415.187438 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 357.822688 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.320503; longitude = -117.651817; captureRadius = 10; duration = 100; initialDepth = 357.822688; finalDepth = 365.215493; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.147954 # Actual altitude: 62.147954 # Commanded vehicle depth:357.822688 # Seafloor depth:-415.187438 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 248.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.86; MB_Bottom_Detect_Filter_Max_Range = 248.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 186.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 100.899455 meters # Minimum depth: 390.961270 meters looking forward 100.000000 meters along route # Maximum depth: 405.702273 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 340.961270 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.321145; longitude = -117.651055; captureRadius = 10; duration = 100; initialDepth = 340.961270; finalDepth = 357.822688; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.741003 # Actual altitude: 64.741003 # Commanded vehicle depth:340.96127 # Seafloor depth:-405.702273 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 258.96; 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 = 258.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 194.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 100.899079 meters # Minimum depth: 379.365393 meters looking forward 100.000000 meters along route # Maximum depth: 390.307244 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 329.365393 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.321789; longitude = -117.650289; captureRadius = 10; duration = 100; initialDepth = 329.365393; finalDepth = 340.961270; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.741003 # Actual altitude: 64.741003 # Commanded vehicle depth:329.365393 # Seafloor depth:-390.307244 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 258.96; 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 = 258.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 194.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 100.898704 meters # Minimum depth: 363.426326 meters looking forward 100.000000 meters along route # Maximum depth: 377.073585 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 313.426326 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.322434; longitude = -117.649524; captureRadius = 10; duration = 100; initialDepth = 313.426326; finalDepth = 329.365393; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.647259 # Actual altitude: 63.647259 # Commanded vehicle depth:313.426326 # Seafloor depth:-377.073585 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 254.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.46; MB_Bottom_Detect_Filter_Max_Range = 254.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 190.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 100.898327 meters # Minimum depth: 351.588396 meters looking forward 100.000000 meters along route # Maximum depth: 362.386289 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 301.588396 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.323078; longitude = -117.648758; captureRadius = 10; duration = 100; initialDepth = 301.588396; finalDepth = 313.426326; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.647259 # Actual altitude: 63.647259 # Commanded vehicle depth:301.588396 # Seafloor depth:-362.386289 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 254.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.46; MB_Bottom_Detect_Filter_Max_Range = 254.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 190.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 100.897952 meters # Minimum depth: 331.761432 meters looking forward 100.000000 meters along route # Maximum depth: 347.834217 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 281.761432 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.323722; longitude = -117.647993; captureRadius = 10; duration = 100; initialDepth = 281.761432; finalDepth = 301.588396; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.072785 # Actual altitude: 66.072785 # Commanded vehicle depth:281.761432 # Seafloor depth:-347.834217 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 264.29; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.43; MB_Bottom_Detect_Filter_Max_Range = 264.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 198.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 112.167982 meters # Minimum depth: 312.341245 meters looking forward 100.000000 meters along route # Maximum depth: 329.216788 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 262.341245 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.324367; longitude = -117.647227; captureRadius = 10; duration = 112; initialDepth = 262.341245; finalDepth = 281.761432; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.875543 # Actual altitude: 66.875543 # Commanded vehicle depth:262.341245 # Seafloor depth:-329.216788 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 267.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.75; MB_Bottom_Detect_Filter_Max_Range = 267.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 13 # Segment length 51.764123 meters # Minimum depth: 310.529846 meters looking forward 100.000000 meters along route # Maximum depth: 317.550996 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 260.529846 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.325083; longitude = -117.646376; captureRadius = 10; duration = 51; # abortOnTimeout = True; initialDepth = 260.529846; finalDepth = 262.341245; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.875543 # Actual altitude: 66.875543 # Commanded vehicle depth:260.529846 # Seafloor depth:-310.529846 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 267.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.75; MB_Bottom_Detect_Filter_Max_Range = 267.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 103.707782 meters # Minimum depth: 311.096139 meters looking forward 100.000000 meters along route # Maximum depth: 314.895083 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 261.096139 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.325441; longitude = -117.646734; captureRadius = 10; duration = 103; initialDepth = 261.096139; finalDepth = 260.529846; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.149872 # Actual altitude: 51.149872 # Commanded vehicle depth:261.096139 # Seafloor depth:-312.246011 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.60; 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 = 204.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 12 # Segment length 45.091343 meters # Minimum depth: 312.879968 meters looking forward 100.000000 meters along route # Maximum depth: 318.470469 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 262.879968 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.326157; longitude = -117.647450; captureRadius = 10; duration = 45; # abortOnTimeout = True; initialDepth = 262.879968; finalDepth = 261.096139; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.797446 # Actual altitude: 52.797446 # Commanded vehicle depth:262.879968 # Seafloor depth:-315.677414 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.19; 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 = 211.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.285712 meters # Minimum depth: 319.015399 meters looking forward 100.000000 meters along route # Maximum depth: 334.449951 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 269.015399 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.325870; longitude = -117.647793; captureRadius = 10; duration = 101; initialDepth = 269.015399; finalDepth = 262.879968; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.797446 # Actual altitude: 52.797446 # Commanded vehicle depth:269.015399 # Seafloor depth:-319.015399 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.19; 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 = 211.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.286092 meters # Minimum depth: 337.108086 meters looking forward 100.000000 meters along route # Maximum depth: 352.149197 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 287.108086 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.325226; longitude = -117.648565; captureRadius = 10; duration = 101; initialDepth = 287.108086; finalDepth = 269.015399; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:287.108086 # Seafloor depth:-337.108086 # 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 101.286473 meters # Minimum depth: 354.148183 meters looking forward 100.000000 meters along route # Maximum depth: 367.778606 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 304.148183 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.324581; longitude = -117.649336; captureRadius = 10; duration = 101; initialDepth = 304.148183; finalDepth = 287.108086; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:304.148183 # Seafloor depth:-354.148183 # 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 101.286853 meters # Minimum depth: 367.937490 meters looking forward 100.000000 meters along route # Maximum depth: 378.278189 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 317.937490 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.323937; longitude = -117.650108; captureRadius = 10; duration = 101; initialDepth = 317.937490; finalDepth = 304.148183; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:317.93749 # Seafloor depth:-367.937490 # 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 101.287233 meters # Minimum depth: 380.327273 meters looking forward 100.000000 meters along route # Maximum depth: 393.427703 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 330.327273 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.323293; longitude = -117.650879; captureRadius = 10; duration = 101; initialDepth = 330.327273; finalDepth = 317.937490; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:330.327273 # Seafloor depth:-380.327273 # 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 101.287614 meters # Minimum depth: 394.557955 meters looking forward 100.000000 meters along route # Maximum depth: 406.743369 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 344.557955 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.322648; longitude = -117.651651; captureRadius = 10; duration = 101; initialDepth = 344.557955; finalDepth = 330.327273; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:344.557955 # Seafloor depth:-394.557955 # 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 101.287994 meters # Minimum depth: 410.740648 meters looking forward 100.000000 meters along route # Maximum depth: 419.368098 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 360.740648 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.322004; longitude = -117.652422; captureRadius = 10; duration = 101; initialDepth = 360.740648; finalDepth = 344.557955; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:360.740648 # Seafloor depth:-410.740648 # 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 101.320316 meters # Minimum depth: 420.589285 meters looking forward 100.000000 meters along route # Maximum depth: 429.455425 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 370.589285 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.321360; longitude = -117.653193; captureRadius = 10; duration = 101; initialDepth = 370.589285; finalDepth = 360.740648; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:370.589285 # Seafloor depth:-420.589285 # 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 101.256812 meters # Minimum depth: 429.460079 meters looking forward 100.000000 meters along route # Maximum depth: 436.340157 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 379.460079 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.320715; longitude = -117.653965; captureRadius = 10; duration = 101; initialDepth = 379.460079; finalDepth = 370.589285; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:379.460079 # Seafloor depth:-429.460079 # 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 101.289135 meters # Minimum depth: 436.422626 meters looking forward 100.000000 meters along route # Maximum depth: 442.456242 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 386.422626 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.320071; longitude = -117.654736; captureRadius = 10; duration = 101; initialDepth = 386.422626; finalDepth = 379.460079; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:386.422626 # Seafloor depth:-436.422626 # 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 101.289515 meters # Minimum depth: 442.946577 meters looking forward 100.000000 meters along route # Maximum depth: 445.953464 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 392.946577 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.319427; longitude = -117.655508; captureRadius = 10; duration = 101; initialDepth = 392.946577; finalDepth = 386.422626; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:392.946577 # Seafloor depth:-442.946577 # 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 101.289896 meters # Minimum depth: 444.444309 meters looking forward 100.000000 meters along route # Maximum depth: 451.153330 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 394.444309 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.318782; longitude = -117.656279; captureRadius = 10; duration = 101; initialDepth = 394.444309; finalDepth = 392.946577; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:394.444309 # Seafloor depth:-444.444309 # 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 102.493081 meters # Minimum depth: 452.325421 meters looking forward 100.000000 meters along route # Maximum depth: 465.332812 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 402.325421 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.318138; longitude = -117.657051; captureRadius = 10; duration = 102; initialDepth = 402.325421; finalDepth = 394.444309; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:402.325421 # Seafloor depth:-452.325421 # 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 100.087851 meters # Minimum depth: 465.602589 meters looking forward 100.000000 meters along route # Maximum depth: 476.423143 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 415.602589 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.317486; longitude = -117.657831; captureRadius = 10; duration = 100; initialDepth = 415.602589; finalDepth = 402.325421; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:415.602589 # Seafloor depth:-465.602589 # 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 101.291036 meters # Minimum depth: 476.296956 meters looking forward 100.000000 meters along route # Maximum depth: 487.186415 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 426.296956 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.316849; longitude = -117.658593; captureRadius = 10; duration = 101; initialDepth = 426.296956; finalDepth = 415.602589; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.572733 # Actual altitude: 51.572733 # Commanded vehicle depth:426.296956 # Seafloor depth:-477.869689 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.29; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.63; MB_Bottom_Detect_Filter_Max_Range = 206.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.291417 meters # Minimum depth: 487.824250 meters looking forward 100.000000 meters along route # Maximum depth: 504.640367 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 437.824250 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.316205; longitude = -117.659365; captureRadius = 10; duration = 101; initialDepth = 437.824250; finalDepth = 426.296956; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.572733 # Actual altitude: 51.572733 # Commanded vehicle depth:437.82425 # Seafloor depth:-487.824250 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.29; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.63; MB_Bottom_Detect_Filter_Max_Range = 206.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.291798 meters # Minimum depth: 508.421702 meters looking forward 100.000000 meters along route # Maximum depth: 527.520095 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 458.421702 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.315561; longitude = -117.660136; captureRadius = 10; duration = 101; initialDepth = 458.421702; finalDepth = 437.824250; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:458.421702 # Seafloor depth:-508.421702 # 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 101.292177 meters # Minimum depth: 528.954810 meters looking forward 100.000000 meters along route # Maximum depth: 538.672669 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 478.954810 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.314916; longitude = -117.660908; captureRadius = 10; duration = 101; initialDepth = 478.954810; finalDepth = 458.421702; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:478.95481 # Seafloor depth:-528.954810 # 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 101.292558 meters # Minimum depth: 542.055459 meters looking forward 100.000000 meters along route # Maximum depth: 550.546018 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 492.055459 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.314272; longitude = -117.661679; captureRadius = 10; duration = 101; initialDepth = 492.055459; finalDepth = 478.954810; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:492.055459 # Seafloor depth:-542.055459 # 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 101.292939 meters # Minimum depth: 547.887818 meters looking forward 100.000000 meters along route # Maximum depth: 557.861312 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 497.887818 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.313628; longitude = -117.662450; captureRadius = 10; duration = 101; initialDepth = 497.887818; finalDepth = 492.055459; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:497.887818 # Seafloor depth:-547.887818 # 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 101.293319 meters # Minimum depth: 557.965558 meters looking forward 100.000000 meters along route # Maximum depth: 560.700195 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 507.965558 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.312983; longitude = -117.663222; captureRadius = 10; duration = 101; initialDepth = 507.965558; finalDepth = 497.887818; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:507.965558 # Seafloor depth:-557.965558 # 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 101.293699 meters # Minimum depth: 562.215609 meters looking forward 100.000000 meters along route # Maximum depth: 566.617711 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 512.215609 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.312339; longitude = -117.663993; captureRadius = 10; duration = 101; initialDepth = 512.215609; finalDepth = 507.965558; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:512.215609 # Seafloor depth:-562.215609 # 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 101.294080 meters # Minimum depth: 566.798241 meters looking forward 100.000000 meters along route # Maximum depth: 570.947772 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 516.798241 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.311695; longitude = -117.664765; captureRadius = 10; duration = 101; initialDepth = 516.798241; finalDepth = 512.215609; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:516.798241 # Seafloor depth:-566.798241 # 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 101.294460 meters # Minimum depth: 573.297233 meters looking forward 100.000000 meters along route # Maximum depth: 578.556067 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 523.297233 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.311050; longitude = -117.665536; captureRadius = 10; duration = 101; initialDepth = 523.297233; finalDepth = 516.798241; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:523.297233 # Seafloor depth:-573.297233 # 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 101.294841 meters # Minimum depth: 579.485678 meters looking forward 100.000000 meters along route # Maximum depth: 585.046364 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 529.485678 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.310406; longitude = -117.666308; captureRadius = 10; duration = 101; initialDepth = 529.485678; finalDepth = 523.297233; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:529.485678 # Seafloor depth:-579.485678 # 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 101.295221 meters # Minimum depth: 585.145003 meters looking forward 100.000000 meters along route # Maximum depth: 590.416484 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 535.145003 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.309762; longitude = -117.667079; captureRadius = 10; duration = 101; initialDepth = 535.145003; finalDepth = 529.485678; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:535.145003 # Seafloor depth:-585.145003 # 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 101.295602 meters # Minimum depth: 590.595047 meters looking forward 100.000000 meters along route # Maximum depth: 596.492120 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 540.595047 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.309117; longitude = -117.667850; captureRadius = 10; duration = 101; initialDepth = 540.595047; finalDepth = 535.145003; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:540.595047 # Seafloor depth:-590.595047 # 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 101.295982 meters # Minimum depth: 596.826440 meters looking forward 100.000000 meters along route # Maximum depth: 600.681343 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 546.826440 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.308473; longitude = -117.668622; captureRadius = 10; duration = 101; initialDepth = 546.826440; finalDepth = 540.595047; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:546.82644 # Seafloor depth:-596.826440 # 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 101.296362 meters # Minimum depth: 601.516974 meters looking forward 100.000000 meters along route # Maximum depth: 605.997773 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 551.516974 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.307829; longitude = -117.669393; captureRadius = 10; duration = 101; initialDepth = 551.516974; finalDepth = 546.826440; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:551.516974 # Seafloor depth:-601.516974 # 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 101.296744 meters # Minimum depth: 606.482306 meters looking forward 100.000000 meters along route # Maximum depth: 611.075574 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 556.482306 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.307184; longitude = -117.670165; captureRadius = 10; duration = 101; initialDepth = 556.482306; finalDepth = 551.516974; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:556.482306 # Seafloor depth:-606.482306 # 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 101.297123 meters # Minimum depth: 608.763922 meters looking forward 100.000000 meters along route # Maximum depth: 611.098708 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 558.763922 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.306540; longitude = -117.670936; captureRadius = 10; duration = 101; initialDepth = 558.763922; finalDepth = 556.482306; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.334786 # Actual altitude: 52.334786 # Commanded vehicle depth:558.763922 # Seafloor depth:-611.098708 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.93; MB_Bottom_Detect_Filter_Max_Range = 209.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.297504 meters # Minimum depth: 602.151146 meters looking forward 100.000000 meters along route # Maximum depth: 607.726406 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 552.151146 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.305896; longitude = -117.671708; captureRadius = 10; duration = 101; initialDepth = 552.151146; finalDepth = 558.763922; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.57526 # Actual altitude: 55.57526 # Commanded vehicle depth:552.151146 # Seafloor depth:-607.726406 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.30; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.23; MB_Bottom_Detect_Filter_Max_Range = 222.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 166.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.297885 meters # Minimum depth: 599.604474 meters looking forward 100.000000 meters along route # Maximum depth: 613.612772 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 549.604474 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.305251; longitude = -117.672479; captureRadius = 10; duration = 101; initialDepth = 549.604474; finalDepth = 552.151146; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.57526 # Actual altitude: 55.57526 # Commanded vehicle depth:549.604474 # Seafloor depth:-602.231517 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.30; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.23; MB_Bottom_Detect_Filter_Max_Range = 222.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 166.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.298265 meters # Minimum depth: 618.263208 meters looking forward 100.000000 meters along route # Maximum depth: 621.870997 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 568.263208 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.304607; longitude = -117.673250; captureRadius = 10; duration = 101; initialDepth = 568.263208; finalDepth = 549.604474; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.6270430000001 # Actual altitude: 52.6270430000001 # Commanded vehicle depth:568.263208 # Seafloor depth:-618.263208 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.05; MB_Bottom_Detect_Filter_Max_Range = 210.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 102.013048 meters # Minimum depth: 617.515662 meters looking forward 100.000000 meters along route # Maximum depth: 620.928569 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 567.515662 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.303963; longitude = -117.674022; captureRadius = 10; duration = 102; initialDepth = 567.515662; finalDepth = 568.263208; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.412907 # Actual altitude: 53.412907 # Commanded vehicle depth:567.515662 # Seafloor depth:-620.928569 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.65; 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 = 213.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 100.584624 meters # Minimum depth: 615.998396 meters looking forward 100.000000 meters along route # Maximum depth: 617.499295 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 565.998396 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.303314; longitude = -117.674799; captureRadius = 10; duration = 100; initialDepth = 565.998396; finalDepth = 567.515662; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.412907 # Actual altitude: 53.412907 # Commanded vehicle depth:565.998396 # Seafloor depth:-617.499295 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.65; 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 = 213.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.299407 meters # Minimum depth: 615.299180 meters looking forward 100.000000 meters along route # Maximum depth: 615.872838 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 565.299180 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.302674; longitude = -117.675565; captureRadius = 10; duration = 101; initialDepth = 565.299180; finalDepth = 565.998396; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.500899 # Actual altitude: 51.500899 # Commanded vehicle depth:565.29918 # Seafloor depth:-615.658864 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.00; 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 = 206.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.299787 meters # Minimum depth: 615.907029 meters looking forward 100.000000 meters along route # Maximum depth: 618.790941 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 565.907029 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.302030; longitude = -117.676336; captureRadius = 10; duration = 101; initialDepth = 565.907029; finalDepth = 565.299180; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.359684 # Actual altitude: 50.359684 # Commanded vehicle depth:565.907029 # Seafloor depth:-615.907029 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.44; 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 = 201.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.300168 meters # Minimum depth: 620.310281 meters looking forward 100.000000 meters along route # Maximum depth: 633.567771 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 570.310281 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.301385; longitude = -117.677108; captureRadius = 10; duration = 101; initialDepth = 570.310281; finalDepth = 565.907029; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:570.310281 # Seafloor depth:-620.310281 # 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 101.300548 meters # Minimum depth: 635.804363 meters looking forward 100.000000 meters along route # Maximum depth: 654.732100 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 585.804363 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.300741; longitude = -117.677879; captureRadius = 10; duration = 101; initialDepth = 585.804363; finalDepth = 570.310281; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:585.804363 # Seafloor depth:-635.804363 # 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 101.300929 meters # Minimum depth: 661.042159 meters looking forward 100.000000 meters along route # Maximum depth: 675.503847 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 611.042159 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.300097; longitude = -117.678650; captureRadius = 10; duration = 101; initialDepth = 611.042159; finalDepth = 585.804363; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:611.042159 # Seafloor depth:-661.042159 # 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 101.301310 meters # Minimum depth: 676.589951 meters looking forward 100.000000 meters along route # Maximum depth: 681.809420 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 626.589951 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.299452; longitude = -117.679422; captureRadius = 10; duration = 101; initialDepth = 626.589951; finalDepth = 611.042159; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:626.589951 # Seafloor depth:-676.589951 # 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 101.301690 meters # Minimum depth: 678.837803 meters looking forward 100.000000 meters along route # Maximum depth: 681.875011 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 628.837803 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.298808; longitude = -117.680193; captureRadius = 10; duration = 101; initialDepth = 628.837803; finalDepth = 626.589951; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.037208 # Actual altitude: 53.037208 # Commanded vehicle depth:628.837803 # Seafloor depth:-681.875011 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.21; MB_Bottom_Detect_Filter_Max_Range = 212.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.302071 meters # Minimum depth: 672.846011 meters looking forward 100.000000 meters along route # Maximum depth: 675.467183 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 622.846011 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.298164; longitude = -117.680965; captureRadius = 10; duration = 101; initialDepth = 622.846011; finalDepth = 628.837803; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.037208 # Actual altitude: 53.037208 # Commanded vehicle depth:622.846011 # Seafloor depth:-675.352219 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.21; MB_Bottom_Detect_Filter_Max_Range = 212.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.302451 meters # Minimum depth: 675.459094 meters looking forward 100.000000 meters along route # Maximum depth: 696.283396 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 625.459094 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.297519; longitude = -117.681736; captureRadius = 10; duration = 101; initialDepth = 625.459094; finalDepth = 622.846011; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.506208 # Actual altitude: 52.506208 # Commanded vehicle depth:625.459094 # Seafloor depth:-675.459094 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.02; 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 = 210.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.302832 meters # Minimum depth: 705.536018 meters looking forward 100.000000 meters along route # Maximum depth: 710.584249 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 655.536018 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.296875; longitude = -117.682508; captureRadius = 10; duration = 101; initialDepth = 655.536018; finalDepth = 625.459094; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:655.536018 # Seafloor depth:-705.536018 # 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 101.303213 meters # Minimum depth: 704.094080 meters looking forward 100.000000 meters along route # Maximum depth: 707.593096 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 654.094080 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.296231; longitude = -117.683279; captureRadius = 10; duration = 101; initialDepth = 654.094080; finalDepth = 655.536018; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.499016 # Actual altitude: 53.499016 # Commanded vehicle depth:654.09408 # Seafloor depth:-707.593096 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.00; 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 = 214.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.303593 meters # Minimum depth: 703.118603 meters looking forward 100.000000 meters along route # Maximum depth: 704.758933 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 653.118603 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.295586; longitude = -117.684050; captureRadius = 10; duration = 101; initialDepth = 653.118603; finalDepth = 654.094080; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.499016 # Actual altitude: 53.499016 # Commanded vehicle depth:653.118603 # Seafloor depth:-704.458371 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.00; 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 = 214.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.303974 meters # Minimum depth: 699.960901 meters looking forward 100.000000 meters along route # Maximum depth: 702.725909 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 649.960901 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.294942; longitude = -117.684822; captureRadius = 10; duration = 101; initialDepth = 649.960901; finalDepth = 653.118603; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.765008 # Actual altitude: 52.765008 # Commanded vehicle depth:649.960901 # Seafloor depth:-702.725909 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.06; 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 = 211.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.304355 meters # Minimum depth: 695.575488 meters looking forward 100.000000 meters along route # Maximum depth: 699.459088 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 645.575488 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.294297; longitude = -117.685593; captureRadius = 10; duration = 101; initialDepth = 645.575488; finalDepth = 649.960901; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.8836 # Actual altitude: 53.8836 # Commanded vehicle depth:645.575488 # Seafloor depth:-699.459088 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.55; MB_Bottom_Detect_Filter_Max_Range = 215.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 161.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.304735 meters # Minimum depth: 692.820540 meters looking forward 100.000000 meters along route # Maximum depth: 696.113347 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 642.820540 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.293653; longitude = -117.686365; captureRadius = 10; duration = 101; initialDepth = 642.820540; finalDepth = 645.575488; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.8836 # Actual altitude: 53.8836 # Commanded vehicle depth:642.82054 # Seafloor depth:-694.378613 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.55; MB_Bottom_Detect_Filter_Max_Range = 215.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 161.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.305116 meters # Minimum depth: 697.409183 meters looking forward 100.000000 meters along route # Maximum depth: 702.138195 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 647.409183 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.293009; longitude = -117.687136; captureRadius = 10; duration = 101; initialDepth = 647.409183; finalDepth = 642.820540; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.5580729999999 # Actual altitude: 51.5580729999999 # Commanded vehicle depth:647.409183 # Seafloor depth:-697.409183 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.23; 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 = 206.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.305497 meters # Minimum depth: 700.723149 meters looking forward 100.000000 meters along route # Maximum depth: 701.890766 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 650.723149 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.292364; longitude = -117.687907; captureRadius = 10; duration = 101; initialDepth = 650.723149; finalDepth = 647.409183; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:650.723149 # Seafloor depth:-700.723149 # 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 101.305877 meters # Minimum depth: 701.315399 meters looking forward 100.000000 meters along route # Maximum depth: 707.669261 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 651.315399 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.291720; longitude = -117.688679; captureRadius = 10; duration = 101; initialDepth = 651.315399; finalDepth = 650.723149; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:651.315399 # Seafloor depth:-701.315399 # 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 101.306258 meters # Minimum depth: 707.966142 meters looking forward 100.000000 meters along route # Maximum depth: 714.748169 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 657.966142 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.291076; longitude = -117.689450; captureRadius = 10; duration = 101; initialDepth = 657.966142; finalDepth = 651.315399; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:657.966142 # Seafloor depth:-707.966142 # 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 101.306639 meters # Minimum depth: 715.780197 meters looking forward 100.000000 meters along route # Maximum depth: 721.716630 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 665.780197 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.290431; longitude = -117.690222; captureRadius = 10; duration = 101; initialDepth = 665.780197; finalDepth = 657.966142; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:665.780197 # Seafloor depth:-715.780197 # 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 101.532939 meters # Minimum depth: 722.331591 meters looking forward 100.000000 meters along route # Maximum depth: 731.615534 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 672.331591 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.289787; longitude = -117.690993; captureRadius = 10; duration = 101; initialDepth = 672.331591; finalDepth = 665.780197; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:672.331591 # Seafloor depth:-722.331591 # 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 101.081481 meters # Minimum depth: 731.633205 meters looking forward 100.000000 meters along route # Maximum depth: 740.130625 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 681.633205 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.289141; longitude = -117.691766; captureRadius = 10; duration = 101; initialDepth = 681.633205; finalDepth = 672.331591; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:681.633205 # Seafloor depth:-731.633205 # 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 101.307781 meters # Minimum depth: 741.417176 meters looking forward 100.000000 meters along route # Maximum depth: 751.682151 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 691.417176 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.288498; longitude = -117.692536; captureRadius = 10; duration = 101; initialDepth = 691.417176; finalDepth = 681.633205; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:691.417176 # Seafloor depth:-741.417176 # 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 101.308162 meters # Minimum depth: 752.183424 meters looking forward 100.000000 meters along route # Maximum depth: 761.416410 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 702.183424 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.287854; longitude = -117.693307; captureRadius = 10; duration = 101; initialDepth = 702.183424; finalDepth = 691.417176; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:702.183424 # Seafloor depth:-752.183424 # 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 101.308542 meters # Minimum depth: 763.158314 meters looking forward 100.000000 meters along route # Maximum depth: 764.593452 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 713.158314 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.287210; longitude = -117.694079; captureRadius = 10; duration = 101; initialDepth = 713.158314; finalDepth = 702.183424; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:713.158314 # Seafloor depth:-763.158314 # 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 101.308923 meters # Minimum depth: 756.633839 meters looking forward 100.000000 meters along route # Maximum depth: 762.370400 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 706.633839 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.286565; longitude = -117.694850; captureRadius = 10; duration = 101; initialDepth = 706.633839; finalDepth = 713.158314; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.7365610000001 # Actual altitude: 55.7365610000001 # Commanded vehicle depth:706.633839 # Seafloor depth:-762.370400 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.95; 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 = 222.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 167.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.309304 meters # Minimum depth: 756.178757 meters looking forward 100.000000 meters along route # Maximum depth: 757.803577 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 706.178757 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.285921; longitude = -117.695622; captureRadius = 10; duration = 101; initialDepth = 706.178757; finalDepth = 706.633839; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.7365610000001 # Actual altitude: 55.7365610000001 # Commanded vehicle depth:706.178757 # Seafloor depth:-757.785123 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.95; 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 = 222.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 167.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.309685 meters # Minimum depth: 757.264309 meters looking forward 100.000000 meters along route # Maximum depth: 759.824463 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 707.264309 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.285277; longitude = -117.696393; captureRadius = 10; duration = 101; initialDepth = 707.264309; finalDepth = 706.178757; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.606366 # Actual altitude: 51.606366 # Commanded vehicle depth:707.264309 # Seafloor depth:-757.671287 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.64; MB_Bottom_Detect_Filter_Max_Range = 206.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.310065 meters # Minimum depth: 759.763516 meters looking forward 100.000000 meters along route # Maximum depth: 760.680175 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 709.763516 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.284632; longitude = -117.697165; captureRadius = 10; duration = 101; initialDepth = 709.763516; finalDepth = 707.264309; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.406978 # Actual altitude: 50.406978 # Commanded vehicle depth:709.763516 # Seafloor depth:-759.763516 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.63; 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 = 201.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.310447 meters # Minimum depth: 761.028305 meters looking forward 100.000000 meters along route # Maximum depth: 762.599778 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 711.028305 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.283988; longitude = -117.697936; captureRadius = 10; duration = 101; initialDepth = 711.028305; finalDepth = 709.763516; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:711.028305 # Seafloor depth:-761.028305 # 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 101.310827 meters # Minimum depth: 762.754218 meters looking forward 100.000000 meters along route # Maximum depth: 764.012621 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 712.754218 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.283344; longitude = -117.698707; captureRadius = 10; duration = 101; initialDepth = 712.754218; finalDepth = 711.028305; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:712.754218 # Seafloor depth:-762.754218 # 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 101.311208 meters # Minimum depth: 764.422298 meters looking forward 100.000000 meters along route # Maximum depth: 765.759626 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 714.422298 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.282699; longitude = -117.699479; captureRadius = 10; duration = 101; initialDepth = 714.422298; finalDepth = 712.754218; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:714.422298 # Seafloor depth:-764.422298 # 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 101.311589 meters # Minimum depth: 765.969343 meters looking forward 100.000000 meters along route # Maximum depth: 767.384179 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 715.969343 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.282055; longitude = -117.700250; captureRadius = 10; duration = 101; initialDepth = 715.969343; finalDepth = 714.422298; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:715.969343 # Seafloor depth:-765.969343 # 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 110.224262 meters # Minimum depth: 767.421220 meters looking forward 100.000000 meters along route # Maximum depth: 768.830257 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 717.421220 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.281411; longitude = -117.701022; captureRadius = 10; duration = 110; initialDepth = 717.421220; finalDepth = 715.969343; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:717.42122 # Seafloor depth:-767.421220 # 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 112.829587 meters # Minimum depth: 768.955598 meters looking forward 100.000000 meters along route # Maximum depth: 770.244357 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 718.955598 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.280710; longitude = -117.701861; captureRadius = 10; duration = 112; initialDepth = 718.955598; finalDepth = 717.421220; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:718.955598 # Seafloor depth:-768.955598 # 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 103.475017 meters # Minimum depth: 770.533446 meters looking forward 100.000000 meters along route # Maximum depth: 771.739034 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 720.533446 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.279992; longitude = -117.702720; captureRadius = 10; duration = 103; initialDepth = 720.533446; finalDepth = 718.955598; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:720.533446 # Seafloor depth:-770.533446 # 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 51.902267 meters # Minimum depth: 771.336293 meters looking forward 100.000000 meters along route # Maximum depth: 771.971554 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 721.336293 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.279334; longitude = -117.703508; captureRadius = 10; duration = 51; # abortOnTimeout = True; initialDepth = 721.336293; finalDepth = 720.533446; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.6009630000001 # Actual altitude: 50.6009630000001 # Commanded vehicle depth:721.336293 # Seafloor depth:-771.937256 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.24; MB_Bottom_Detect_Filter_Max_Range = 202.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 103.603826 meters # Minimum depth: 771.390609 meters looking forward 100.000000 meters along route # Maximum depth: 771.795258 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 721.390609 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.279692; longitude = -117.703866; captureRadius = 10; duration = 103; initialDepth = 721.390609; finalDepth = 721.336293; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.6009630000001 # Actual altitude: 50.6009630000001 # Commanded vehicle depth:721.390609 # Seafloor depth:-771.795258 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.24; MB_Bottom_Detect_Filter_Max_Range = 202.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 10 # Segment length 22.581873 meters # Minimum depth: 771.086647 meters looking forward 100.000000 meters along route # Maximum depth: 771.660799 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 721.086647 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.280408; longitude = -117.704582; captureRadius = 10; duration = 22; # abortOnTimeout = True; initialDepth = 721.086647; finalDepth = 721.390609; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.4046489999999 # Actual altitude: 50.4046489999999 # Commanded vehicle depth:721.086647 # Seafloor depth:-771.274170 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.62; 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 = 201.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.338935 meters # Minimum depth: 769.935716 meters looking forward 100.000000 meters along route # Maximum depth: 771.034917 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 719.935716 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.280552; longitude = -117.704410; captureRadius = 10; duration = 101; initialDepth = 719.935716; finalDepth = 721.086647; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.099201 # Actual altitude: 51.099201 # Commanded vehicle depth:719.935716 # Seafloor depth:-771.034917 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.44; MB_Bottom_Detect_Filter_Max_Range = 204.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.338553 meters # Minimum depth: 768.410482 meters looking forward 100.000000 meters along route # Maximum depth: 769.653426 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 718.410482 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.281196; longitude = -117.703638; captureRadius = 10; duration = 101; initialDepth = 718.410482; finalDepth = 719.935716; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.242944 # Actual altitude: 51.242944 # Commanded vehicle depth:718.410482 # Seafloor depth:-769.653426 # 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 10 # Segment length 101.338172 meters # Minimum depth: 767.261080 meters looking forward 100.000000 meters along route # Maximum depth: 768.289128 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 717.261080 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.281840; longitude = -117.702866; captureRadius = 10; duration = 101; initialDepth = 717.261080; finalDepth = 718.410482; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.242944 # Actual altitude: 51.242944 # Commanded vehicle depth:717.26108 # Seafloor depth:-768.289128 # 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 10 # Segment length 101.337792 meters # Minimum depth: 765.635146 meters looking forward 100.000000 meters along route # Maximum depth: 766.898116 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 715.635146 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.282485; longitude = -117.702095; captureRadius = 10; duration = 101; initialDepth = 715.635146; finalDepth = 717.261080; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.26297 # Actual altitude: 51.26297 # Commanded vehicle depth:715.635146 # Seafloor depth:-766.898116 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.05; 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 = 205.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.337410 meters # Minimum depth: 763.815365 meters looking forward 100.000000 meters along route # Maximum depth: 765.418135 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 713.815365 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.283129; longitude = -117.701323; captureRadius = 10; duration = 101; initialDepth = 713.815365; finalDepth = 715.635146; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.60277 # Actual altitude: 51.60277 # Commanded vehicle depth:713.815365 # Seafloor depth:-765.418135 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.41; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.64; MB_Bottom_Detect_Filter_Max_Range = 206.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.337029 meters # Minimum depth: 762.185950 meters looking forward 100.000000 meters along route # Maximum depth: 763.765652 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 712.185950 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.283773; longitude = -117.700551; captureRadius = 10; duration = 101; initialDepth = 712.185950; finalDepth = 713.815365; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.60277 # Actual altitude: 51.60277 # Commanded vehicle depth:712.18595 # Seafloor depth:-763.765652 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.41; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.64; MB_Bottom_Detect_Filter_Max_Range = 206.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.336647 meters # Minimum depth: 759.414920 meters looking forward 100.000000 meters along route # Maximum depth: 761.764450 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 709.414920 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.284418; longitude = -117.699779; captureRadius = 10; duration = 101; initialDepth = 709.414920; finalDepth = 712.185950; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.34953 # Actual altitude: 52.34953 # Commanded vehicle depth:709.41492 # Seafloor depth:-761.764450 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.94; MB_Bottom_Detect_Filter_Max_Range = 209.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.336267 meters # Minimum depth: 757.173763 meters looking forward 100.000000 meters along route # Maximum depth: 759.205416 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 707.173763 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.285062; longitude = -117.699007; captureRadius = 10; duration = 101; initialDepth = 707.173763; finalDepth = 709.414920; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.34953 # Actual altitude: 52.34953 # Commanded vehicle depth:707.173763 # Seafloor depth:-759.205416 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.94; MB_Bottom_Detect_Filter_Max_Range = 209.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.335885 meters # Minimum depth: 756.215774 meters looking forward 100.000000 meters along route # Maximum depth: 757.610456 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 706.215774 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.285706; longitude = -117.698235; captureRadius = 10; duration = 101; initialDepth = 706.215774; finalDepth = 707.173763; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.031653 # Actual altitude: 52.031653 # Commanded vehicle depth:706.215774 # Seafloor depth:-756.716628 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.13; 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 = 208.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.335505 meters # Minimum depth: 753.495088 meters looking forward 100.000000 meters along route # Maximum depth: 757.856990 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 703.495088 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.286351; longitude = -117.697464; captureRadius = 10; duration = 101; initialDepth = 703.495088; finalDepth = 706.215774; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.30236 # Actual altitude: 54.30236 # Commanded vehicle depth:703.495088 # Seafloor depth:-757.797448 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.21; 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 = 217.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.335123 meters # Minimum depth: 753.466637 meters looking forward 100.000000 meters along route # Maximum depth: 754.905569 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 703.466637 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.286995; longitude = -117.696692; captureRadius = 10; duration = 101; initialDepth = 703.466637; finalDepth = 703.495088; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.30236 # Actual altitude: 54.30236 # Commanded vehicle depth:703.466637 # Seafloor depth:-753.466637 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.21; 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 = 217.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.334742 meters # Minimum depth: 750.288371 meters looking forward 100.000000 meters along route # Maximum depth: 755.348006 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.288371 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.287639; longitude = -117.695920; captureRadius = 10; duration = 101; initialDepth = 700.288371; finalDepth = 703.466637; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.917176 # Actual altitude: 54.917176 # Commanded vehicle depth:700.288371 # Seafloor depth:-755.205547 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.97; MB_Bottom_Detect_Filter_Max_Range = 219.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.334361 meters # Minimum depth: 738.437973 meters looking forward 100.000000 meters along route # Maximum depth: 749.618531 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 688.437973 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.288284; longitude = -117.695148; captureRadius = 10; duration = 101; initialDepth = 688.437973; finalDepth = 700.288371; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.1805579999999 # Actual altitude: 61.1805579999999 # Commanded vehicle depth:688.437973 # Seafloor depth:-749.618531 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 244.72; 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 = 244.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 183.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.333980 meters # Minimum depth: 723.054864 meters looking forward 100.000000 meters along route # Maximum depth: 735.185992 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 673.054864 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.288928; longitude = -117.694376; captureRadius = 10; duration = 101; initialDepth = 673.054864; finalDepth = 688.437973; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.1311280000001 # Actual altitude: 62.1311280000001 # Commanded vehicle depth:673.054864 # Seafloor depth:-735.185992 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 248.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.85; MB_Bottom_Detect_Filter_Max_Range = 248.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 186.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.333599 meters # Minimum depth: 718.159722 meters looking forward 100.000000 meters along route # Maximum depth: 721.789566 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 668.159722 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.289572; longitude = -117.693604; captureRadius = 10; duration = 101; initialDepth = 668.159722; finalDepth = 673.054864; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.1311280000001 # Actual altitude: 62.1311280000001 # Commanded vehicle depth:668.159722 # Seafloor depth:-721.789566 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 248.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.85; MB_Bottom_Detect_Filter_Max_Range = 248.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 186.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.333218 meters # Minimum depth: 716.290187 meters looking forward 100.000000 meters along route # Maximum depth: 718.784415 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 666.290187 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.290217; longitude = -117.692833; captureRadius = 10; duration = 101; initialDepth = 666.290187; finalDepth = 668.159722; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.629844 # Actual altitude: 53.629844 # Commanded vehicle depth:666.290187 # Seafloor depth:-718.157355 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.52; 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 = 214.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.332837 meters # Minimum depth: 708.266497 meters looking forward 100.000000 meters along route # Maximum depth: 715.373782 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 658.266497 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.290861; longitude = -117.692061; captureRadius = 10; duration = 101; initialDepth = 658.266497; finalDepth = 666.290187; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.9693960000001 # Actual altitude: 56.9693960000001 # Commanded vehicle depth:658.266497 # Seafloor depth:-715.235893 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 227.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.79; MB_Bottom_Detect_Filter_Max_Range = 227.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 170.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.332456 meters # Minimum depth: 697.846568 meters looking forward 100.000000 meters along route # Maximum depth: 707.408188 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 647.846568 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.291505; longitude = -117.691289; captureRadius = 10; duration = 101; initialDepth = 647.846568; finalDepth = 658.266497; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.5616199999999 # Actual altitude: 59.5616199999999 # Commanded vehicle depth:647.846568 # Seafloor depth:-707.408188 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 238.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.82; MB_Bottom_Detect_Filter_Max_Range = 238.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 178.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.332075 meters # Minimum depth: 687.133817 meters looking forward 100.000000 meters along route # Maximum depth: 694.696942 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 637.133817 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.292150; longitude = -117.690517; captureRadius = 10; duration = 101; initialDepth = 637.133817; finalDepth = 647.846568; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.5616199999999 # Actual altitude: 59.5616199999999 # Commanded vehicle depth:637.133817 # Seafloor depth:-694.696942 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 238.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.82; MB_Bottom_Detect_Filter_Max_Range = 238.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 178.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.331694 meters # Minimum depth: 683.828817 meters looking forward 100.000000 meters along route # Maximum depth: 689.300089 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 633.828817 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.292794; longitude = -117.689745; captureRadius = 10; duration = 101; initialDepth = 633.828817; finalDepth = 637.133817; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.563125 # Actual altitude: 57.563125 # Commanded vehicle depth:633.828817 # Seafloor depth:-688.232144 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 230.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.03; MB_Bottom_Detect_Filter_Max_Range = 230.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 172.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.331312 meters # Minimum depth: 683.819681 meters looking forward 100.000000 meters along route # Maximum depth: 685.788027 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 633.819681 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.293438; longitude = -117.688973; captureRadius = 10; duration = 101; initialDepth = 633.819681; finalDepth = 633.828817; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.403327 # Actual altitude: 54.403327 # Commanded vehicle depth:633.819681 # Seafloor depth:-683.819681 # 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 = 163.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.330932 meters # Minimum depth: 685.948851 meters looking forward 100.000000 meters along route # Maximum depth: 690.912972 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 635.948851 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.294083; longitude = -117.688202; captureRadius = 10; duration = 101; initialDepth = 635.948851; finalDepth = 633.819681; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:635.948851 # Seafloor depth:-685.948851 # 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 101.330551 meters # Minimum depth: 690.986440 meters looking forward 100.000000 meters along route # Maximum depth: 694.770995 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 640.986440 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.294727; longitude = -117.687430; captureRadius = 10; duration = 101; initialDepth = 640.986440; finalDepth = 635.948851; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:640.98644 # Seafloor depth:-690.986440 # 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 101.330170 meters # Minimum depth: 695.646793 meters looking forward 100.000000 meters along route # Maximum depth: 697.852927 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 645.646793 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.295371; longitude = -117.686658; captureRadius = 10; duration = 101; initialDepth = 645.646793; finalDepth = 640.986440; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:645.646793 # Seafloor depth:-695.646793 # 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 102.130377 meters # Minimum depth: 697.109454 meters looking forward 100.000000 meters along route # Maximum depth: 700.770750 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 647.109454 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.296016; longitude = -117.685886; captureRadius = 10; duration = 102; initialDepth = 647.109454; finalDepth = 645.646793; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:647.109454 # Seafloor depth:-697.109454 # 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 100.528819 meters # Minimum depth: 692.255434 meters looking forward 100.000000 meters along route # Maximum depth: 700.303282 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 642.255434 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.296665; longitude = -117.685108; captureRadius = 10; duration = 100; initialDepth = 642.255434; finalDepth = 647.109454; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.0478479999999 # Actual altitude: 58.0478479999999 # Commanded vehicle depth:642.255434 # Seafloor depth:-700.303282 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 232.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.22; MB_Bottom_Detect_Filter_Max_Range = 232.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 174.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.329027 meters # Minimum depth: 674.162150 meters looking forward 100.000000 meters along route # Maximum depth: 688.913833 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 624.162150 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.297304; longitude = -117.684342; captureRadius = 10; duration = 101; initialDepth = 624.162150; finalDepth = 642.255434; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.751683 # Actual altitude: 64.751683 # Commanded vehicle depth:624.16215 # Seafloor depth:-688.913833 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 259.01; 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 = 259.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 194.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.328646 meters # Minimum depth: 669.752938 meters looking forward 100.000000 meters along route # Maximum depth: 673.667886 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 619.752938 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.297949; longitude = -117.683571; captureRadius = 10; duration = 101; initialDepth = 619.752938; finalDepth = 624.162150; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.751683 # Actual altitude: 64.751683 # Commanded vehicle depth:619.752938 # Seafloor depth:-673.667886 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 259.01; 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 = 259.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 194.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.328265 meters # Minimum depth: 670.752483 meters looking forward 100.000000 meters along route # Maximum depth: 671.402966 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 620.752483 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.298593; longitude = -117.682799; captureRadius = 10; duration = 101; initialDepth = 620.752483; finalDepth = 619.752938; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.914948 # Actual altitude: 53.914948 # Commanded vehicle depth:620.752483 # Seafloor depth:-670.752483 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.66; 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 = 215.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 161.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.327884 meters # Minimum depth: 671.646414 meters looking forward 100.000000 meters along route # Maximum depth: 673.277127 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 621.646414 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.299237; longitude = -117.682027; captureRadius = 10; duration = 101; initialDepth = 621.646414; finalDepth = 620.752483; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.507941 # Actual altitude: 50.507941 # Commanded vehicle depth:621.646414 # Seafloor depth:-672.154355 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.03; 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 = 202.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.327503 meters # Minimum depth: 667.835310 meters looking forward 100.000000 meters along route # Maximum depth: 673.970913 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 617.835310 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.299882; longitude = -117.681255; captureRadius = 10; duration = 101; initialDepth = 617.835310; finalDepth = 621.646414; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.1765489999999 # Actual altitude: 54.1765489999999 # Commanded vehicle depth:617.83531 # Seafloor depth:-672.011859 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.71; 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 = 216.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.327122 meters # Minimum depth: 645.454580 meters looking forward 100.000000 meters along route # Maximum depth: 664.382706 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 595.454580 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.300526; longitude = -117.680483; captureRadius = 10; duration = 101; initialDepth = 595.454580; finalDepth = 617.835310; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.928126 # Actual altitude: 68.928126 # Commanded vehicle depth:595.45458 # Seafloor depth:-664.382706 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 275.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.57; MB_Bottom_Detect_Filter_Max_Range = 275.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.326742 meters # Minimum depth: 626.295184 meters looking forward 100.000000 meters along route # Maximum depth: 644.694771 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 576.295184 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.301170; longitude = -117.679711; captureRadius = 10; duration = 101; initialDepth = 576.295184; finalDepth = 595.454580; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.928126 # Actual altitude: 68.928126 # Commanded vehicle depth:576.295184 # Seafloor depth:-644.694771 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 275.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.57; MB_Bottom_Detect_Filter_Max_Range = 275.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.326360 meters # Minimum depth: 609.851106 meters looking forward 100.000000 meters along route # Maximum depth: 621.287378 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 559.851106 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.301815; longitude = -117.678940; captureRadius = 10; duration = 101; initialDepth = 559.851106; finalDepth = 576.295184; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.399587 # Actual altitude: 68.399587 # Commanded vehicle depth:559.851106 # Seafloor depth:-621.287378 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 273.60; 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 = 273.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.325979 meters # Minimum depth: 610.335608 meters looking forward 100.000000 meters along route # Maximum depth: 612.876763 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 560.335608 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.302459; longitude = -117.678168; captureRadius = 10; duration = 101; initialDepth = 560.335608; finalDepth = 559.851106; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.436272 # Actual altitude: 61.436272 # Commanded vehicle depth:560.335608 # Seafloor depth:-610.335608 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 245.75; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.57; MB_Bottom_Detect_Filter_Max_Range = 245.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 184.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.325599 meters # Minimum depth: 612.298112 meters looking forward 100.000000 meters along route # Maximum depth: 613.379173 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 562.298112 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.303103; longitude = -117.677396; captureRadius = 10; duration = 101; initialDepth = 562.298112; finalDepth = 560.335608; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9171940000001 # Actual altitude: 50.9171940000001 # Commanded vehicle depth:562.298112 # Seafloor depth:-613.215306 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.67; 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 = 203.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.325218 meters # Minimum depth: 612.863413 meters looking forward 100.000000 meters along route # Maximum depth: 616.921555 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 562.863413 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.303748; longitude = -117.676624; captureRadius = 10; duration = 101; initialDepth = 562.863413; finalDepth = 562.298112; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9171940000001 # Actual altitude: 50.9171940000001 # Commanded vehicle depth:562.863413 # Seafloor depth:-612.863413 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.67; 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 = 203.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.324836 meters # Minimum depth: 617.116921 meters looking forward 100.000000 meters along route # Maximum depth: 619.214850 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 567.116921 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.304392; longitude = -117.675852; captureRadius = 10; duration = 101; initialDepth = 567.116921; finalDepth = 562.863413; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:567.116921 # Seafloor depth:-617.116921 # 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 101.324456 meters # Minimum depth: 620.284894 meters looking forward 100.000000 meters along route # Maximum depth: 622.827386 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 570.284894 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.305036; longitude = -117.675080; captureRadius = 10; duration = 101; initialDepth = 570.284894; finalDepth = 567.116921; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:570.284894 # Seafloor depth:-620.284894 # 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 101.324075 meters # Minimum depth: 620.131985 meters looking forward 100.000000 meters along route # Maximum depth: 622.692571 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 570.131985 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.305681; longitude = -117.674309; captureRadius = 10; duration = 101; initialDepth = 570.131985; finalDepth = 570.284894; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.444927 # Actual altitude: 52.444927 # Commanded vehicle depth:570.131985 # Seafloor depth:-622.576912 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.78; 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 = 209.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.323695 meters # Minimum depth: 622.253493 meters looking forward 100.000000 meters along route # Maximum depth: 623.351288 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 572.253493 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.306325; longitude = -117.673537; captureRadius = 10; duration = 101; initialDepth = 572.253493; finalDepth = 570.131985; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.444927 # Actual altitude: 52.444927 # Commanded vehicle depth:572.253493 # Seafloor depth:-622.535487 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.78; 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 = 209.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.323313 meters # Minimum depth: 622.748486 meters looking forward 100.000000 meters along route # Maximum depth: 625.328289 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 572.748486 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.306970; longitude = -117.672765; captureRadius = 10; duration = 101; initialDepth = 572.748486; finalDepth = 572.253493; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.662951 # Actual altitude: 50.662951 # Commanded vehicle depth:572.748486 # Seafloor depth:-623.411437 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.65; 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 = 202.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.322933 meters # Minimum depth: 614.886273 meters looking forward 100.000000 meters along route # Maximum depth: 622.884645 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 564.886273 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.307614; longitude = -117.671993; captureRadius = 10; duration = 101; initialDepth = 564.886273; finalDepth = 572.748486; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.998372 # Actual altitude: 57.998372 # Commanded vehicle depth:564.886273 # Seafloor depth:-622.884645 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 231.99; 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 = 231.99; 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 10 # Segment length 101.322551 meters # Minimum depth: 607.103184 meters looking forward 100.000000 meters along route # Maximum depth: 614.448451 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 557.103184 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.308258; longitude = -117.671221; captureRadius = 10; duration = 101; initialDepth = 557.103184; finalDepth = 564.886273; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.998372 # Actual altitude: 57.998372 # Commanded vehicle depth:557.103184 # Seafloor depth:-614.448451 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 231.99; 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 = 231.99; 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 10 # Segment length 101.322171 meters # Minimum depth: 602.570251 meters looking forward 100.000000 meters along route # Maximum depth: 607.282484 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 552.570251 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.308903; longitude = -117.670449; captureRadius = 10; duration = 101; initialDepth = 552.570251; finalDepth = 557.103184; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.3452669999999 # Actual altitude: 57.3452669999999 # Commanded vehicle depth:552.570251 # Seafloor depth:-607.282484 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 229.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.94; MB_Bottom_Detect_Filter_Max_Range = 229.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 172.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.321790 meters # Minimum depth: 596.910330 meters looking forward 100.000000 meters along route # Maximum depth: 600.867432 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 546.910330 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.309547; longitude = -117.669678; captureRadius = 10; duration = 101; initialDepth = 546.910330; finalDepth = 552.570251; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.712233 # Actual altitude: 54.712233 # Commanded vehicle depth:546.91033 # Seafloor depth:-600.828289 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.88; MB_Bottom_Detect_Filter_Max_Range = 218.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.321410 meters # Minimum depth: 590.831810 meters looking forward 100.000000 meters along route # Maximum depth: 596.322660 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 540.831810 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.310191; longitude = -117.668906; captureRadius = 10; duration = 101; initialDepth = 540.831810; finalDepth = 546.910330; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.49085 # Actual altitude: 55.49085 # Commanded vehicle depth:540.83181 # Seafloor depth:-596.322660 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.20; MB_Bottom_Detect_Filter_Max_Range = 221.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 166.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.321028 meters # Minimum depth: 588.868527 meters looking forward 100.000000 meters along route # Maximum depth: 591.053908 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 538.868527 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.310836; longitude = -117.668134; captureRadius = 10; duration = 101; initialDepth = 538.868527; finalDepth = 540.831810; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.49085 # Actual altitude: 55.49085 # Commanded vehicle depth:538.868527 # Seafloor depth:-590.799445 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.20; MB_Bottom_Detect_Filter_Max_Range = 221.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 166.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.320648 meters # Minimum depth: 581.668718 meters looking forward 100.000000 meters along route # Maximum depth: 588.225321 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 531.668718 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.311480; longitude = -117.667362; captureRadius = 10; duration = 101; initialDepth = 531.668718; finalDepth = 538.868527; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.556603 # Actual altitude: 56.556603 # Commanded vehicle depth:531.668718 # Seafloor depth:-588.225321 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.23; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.62; MB_Bottom_Detect_Filter_Max_Range = 226.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 169.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.320267 meters # Minimum depth: 580.068433 meters looking forward 100.000000 meters along route # Maximum depth: 581.190631 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 530.068433 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.312124; longitude = -117.666590; captureRadius = 10; duration = 101; initialDepth = 530.068433; finalDepth = 531.668718; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.556603 # Actual altitude: 56.556603 # Commanded vehicle depth:530.068433 # Seafloor depth:-581.190631 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.23; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.62; MB_Bottom_Detect_Filter_Max_Range = 226.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 169.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.319886 meters # Minimum depth: 573.775138 meters looking forward 100.000000 meters along route # Maximum depth: 578.884996 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 523.775138 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.312769; longitude = -117.665819; captureRadius = 10; duration = 101; initialDepth = 523.775138; finalDepth = 530.068433; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.0915620000001 # Actual altitude: 54.0915620000001 # Commanded vehicle depth:523.775138 # Seafloor depth:-577.866700 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.64; MB_Bottom_Detect_Filter_Max_Range = 216.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.363795 meters # Minimum depth: 564.320635 meters looking forward 100.000000 meters along route # Maximum depth: 573.704015 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 514.320635 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.313413; longitude = -117.665047; captureRadius = 10; duration = 101; initialDepth = 514.320635; finalDepth = 523.775138; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.38338 # Actual altitude: 59.38338 # Commanded vehicle depth:514.320635 # Seafloor depth:-573.704015 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 237.53; 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 = 237.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 178.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.274835 meters # Minimum depth: 559.292116 meters looking forward 100.000000 meters along route # Maximum depth: 564.316220 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 509.292116 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.314058; longitude = -117.664275; captureRadius = 10; duration = 101; initialDepth = 509.292116; finalDepth = 514.320635; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.38338 # Actual altitude: 59.38338 # Commanded vehicle depth:509.292116 # Seafloor depth:-564.316220 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 237.53; 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 = 237.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 178.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.318744 meters # Minimum depth: 553.413858 meters looking forward 100.000000 meters along route # Maximum depth: 558.774991 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 503.413858 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.314702; longitude = -117.663503; captureRadius = 10; duration = 101; initialDepth = 503.413858; finalDepth = 509.292116; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.361133 # Actual altitude: 55.361133 # Commanded vehicle depth:503.413858 # Seafloor depth:-558.774991 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.14; MB_Bottom_Detect_Filter_Max_Range = 221.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 166.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.318363 meters # Minimum depth: 543.057456 meters looking forward 100.000000 meters along route # Maximum depth: 553.058587 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 493.057456 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.315346; longitude = -117.662731; captureRadius = 10; duration = 101; initialDepth = 493.057456; finalDepth = 503.413858; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.001131 # Actual altitude: 60.001131 # Commanded vehicle depth:493.057456 # Seafloor depth:-553.058587 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.317983 meters # Minimum depth: 522.483936 meters looking forward 100.000000 meters along route # Maximum depth: 538.804926 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 472.483936 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.315990; longitude = -117.661959; captureRadius = 10; duration = 101; initialDepth = 472.483936; finalDepth = 493.057456; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.3209900000001 # Actual altitude: 66.3209900000001 # Commanded vehicle depth:472.483936 # Seafloor depth:-538.804926 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 265.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.53; MB_Bottom_Detect_Filter_Max_Range = 265.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 198.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 102.266073 meters # Minimum depth: 504.455254 meters looking forward 100.000000 meters along route # Maximum depth: 520.409190 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 454.455254 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.316635; longitude = -117.661188; captureRadius = 10; duration = 102; initialDepth = 454.455254; finalDepth = 472.483936; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.3209900000001 # Actual altitude: 66.3209900000001 # Commanded vehicle depth:454.455254 # Seafloor depth:-520.409190 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 265.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.53; MB_Bottom_Detect_Filter_Max_Range = 265.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 198.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 100.368750 meters # Minimum depth: 488.901521 meters looking forward 100.000000 meters along route # Maximum depth: 504.303187 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 438.901521 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.317285; longitude = -117.660408; captureRadius = 10; duration = 100; initialDepth = 438.901521; finalDepth = 454.455254; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.9539359999999 # Actual altitude: 65.9539359999999 # Commanded vehicle depth:438.901521 # Seafloor depth:-504.303187 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 263.82; 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 = 263.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 197.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.316840 meters # Minimum depth: 474.040737 meters looking forward 100.000000 meters along route # Maximum depth: 487.262899 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 424.040737 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.317923; longitude = -117.659644; captureRadius = 10; duration = 101; initialDepth = 424.040737; finalDepth = 438.901521; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.401666 # Actual altitude: 65.401666 # Commanded vehicle depth:424.040737 # Seafloor depth:-487.262899 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 261.61; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.16; MB_Bottom_Detect_Filter_Max_Range = 261.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 196.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.316460 meters # Minimum depth: 467.949992 meters looking forward 100.000000 meters along route # Maximum depth: 473.162297 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 417.949992 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.318568; longitude = -117.658872; captureRadius = 10; duration = 101; initialDepth = 417.949992; finalDepth = 424.040737; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.222162 # Actual altitude: 63.222162 # Commanded vehicle depth:417.949992 # Seafloor depth:-473.162297 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 252.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.29; MB_Bottom_Detect_Filter_Max_Range = 252.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 189.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.316079 meters # Minimum depth: 462.292615 meters looking forward 100.000000 meters along route # Maximum depth: 467.199272 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 412.292615 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.319212; longitude = -117.658100; captureRadius = 10; duration = 101; initialDepth = 412.292615; finalDepth = 417.949992; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.212305 # Actual altitude: 55.212305 # Commanded vehicle depth:412.292615 # Seafloor depth:-467.199272 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.08; MB_Bottom_Detect_Filter_Max_Range = 220.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 165.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.315698 meters # Minimum depth: 459.764434 meters looking forward 100.000000 meters along route # Maximum depth: 462.022100 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 409.764434 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.319856; longitude = -117.657328; captureRadius = 10; duration = 101; initialDepth = 409.764434; finalDepth = 412.292615; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.906657 # Actual altitude: 54.906657 # Commanded vehicle depth:409.764434 # Seafloor depth:-462.022100 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.63; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.96; MB_Bottom_Detect_Filter_Max_Range = 219.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.315318 meters # Minimum depth: 454.273609 meters looking forward 100.000000 meters along route # Maximum depth: 458.684038 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 404.273609 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.320501; longitude = -117.656557; captureRadius = 10; duration = 101; initialDepth = 404.273609; finalDepth = 409.764434; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.410429 # Actual altitude: 54.410429 # Commanded vehicle depth:404.273609 # Seafloor depth:-458.684038 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.64; 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 = 217.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.314937 meters # Minimum depth: 446.124879 meters looking forward 100.000000 meters along route # Maximum depth: 453.715341 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 396.124879 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.321145; longitude = -117.655785; captureRadius = 10; duration = 101; initialDepth = 396.124879; finalDepth = 404.273609; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.590462 # Actual altitude: 57.590462 # Commanded vehicle depth:396.124879 # Seafloor depth:-453.715341 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 230.36; 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 = 230.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 172.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.314556 meters # Minimum depth: 442.244530 meters looking forward 100.000000 meters along route # Maximum depth: 446.334993 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 392.244530 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.321789; longitude = -117.655013; captureRadius = 10; duration = 101; initialDepth = 392.244530; finalDepth = 396.124879; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.590462 # Actual altitude: 57.590462 # Commanded vehicle depth:392.24453 # Seafloor depth:-446.334993 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 230.36; 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 = 230.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 172.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.314176 meters # Minimum depth: 431.718546 meters looking forward 100.000000 meters along route # Maximum depth: 438.568899 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 381.718546 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.322434; longitude = -117.654241; captureRadius = 10; duration = 101; initialDepth = 381.718546; finalDepth = 392.244530; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.850353 # Actual altitude: 56.850353 # Commanded vehicle depth:381.718546 # Seafloor depth:-438.568899 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 227.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.74; MB_Bottom_Detect_Filter_Max_Range = 227.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 170.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.313795 meters # Minimum depth: 425.117195 meters looking forward 100.000000 meters along route # Maximum depth: 437.177412 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 375.117195 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.323078; longitude = -117.653469; captureRadius = 10; duration = 101; initialDepth = 375.117195; finalDepth = 381.718546; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.060217 # Actual altitude: 62.060217 # Commanded vehicle depth:375.117195 # Seafloor depth:-437.177412 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 248.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.82; MB_Bottom_Detect_Filter_Max_Range = 248.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 186.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.313415 meters # Minimum depth: 410.079682 meters looking forward 100.000000 meters along route # Maximum depth: 417.229042 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 360.079682 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.323722; longitude = -117.652697; captureRadius = 10; duration = 101; initialDepth = 360.079682; finalDepth = 375.117195; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.060217 # Actual altitude: 62.060217 # Commanded vehicle depth:360.079682 # Seafloor depth:-417.229042 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 248.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.82; MB_Bottom_Detect_Filter_Max_Range = 248.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 186.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.313034 meters # Minimum depth: 396.945906 meters looking forward 100.000000 meters along route # Maximum depth: 408.985226 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 346.945906 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.324367; longitude = -117.651926; captureRadius = 10; duration = 101; initialDepth = 346.945906; finalDepth = 360.079682; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.03932 # Actual altitude: 62.03932 # Commanded vehicle depth:346.945906 # Seafloor depth:-408.985226 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 248.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.82; MB_Bottom_Detect_Filter_Max_Range = 248.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 186.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 110.250354 meters # Minimum depth: 384.223126 meters looking forward 100.000000 meters along route # Maximum depth: 396.720484 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 334.223126 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.325011; longitude = -117.651154; captureRadius = 10; duration = 110; initialDepth = 334.223126; finalDepth = 346.945906; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.497358 # Actual altitude: 62.497358 # Commanded vehicle depth:334.223126 # Seafloor depth:-396.720484 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 249.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 249.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 187.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 112.770049 meters # Minimum depth: 364.500179 meters looking forward 100.000000 meters along route # Maximum depth: 383.241605 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 314.500179 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.325712; longitude = -117.650314; captureRadius = 10; duration = 112; initialDepth = 314.500179; finalDepth = 334.223126; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.741426 # Actual altitude: 68.741426 # Commanded vehicle depth:314.500179 # Seafloor depth:-383.241605 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 274.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.50; MB_Bottom_Detect_Filter_Max_Range = 274.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 103.393619 meters # Minimum depth: 348.029769 meters looking forward 100.000000 meters along route # Maximum depth: 360.456148 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 298.029769 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.326429; longitude = -117.649455; captureRadius = 10; duration = 103; initialDepth = 298.029769; finalDepth = 314.500179; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.741426 # Actual altitude: 68.741426 # Commanded vehicle depth:298.029769 # Seafloor depth:-360.456148 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 274.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.50; MB_Bottom_Detect_Filter_Max_Range = 274.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 9 # Segment length 110.009085 meters # Minimum depth: 345.020111 meters looking forward 100.000000 meters along route # Maximum depth: 387.079057 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 295.020111 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.327087; longitude = -117.648667; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 295.020111; finalDepth = 298.029769; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.426379 # Actual altitude: 62.426379 # Commanded vehicle depth:295.020111 # Seafloor depth:-345.020111 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 249.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.97; MB_Bottom_Detect_Filter_Max_Range = 249.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 187.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 121.017665 meters # Minimum depth: 388.204490 meters looking forward 100.000000 meters along route # Maximum depth: 423.084701 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 338.204490 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.327803; longitude = -117.649485; captureRadius = 10; duration = 121; initialDepth = 338.204490; finalDepth = 295.020111; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:338.20449 # Seafloor depth:-388.204490 # 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 8 # Segment length 72.933834 meters # Minimum depth: 417.782976 meters looking forward 100.000000 meters along route # Maximum depth: 425.475418 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 367.782976 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.328591; longitude = -117.650385; captureRadius = 10; duration = 72; # abortOnTimeout = True; initialDepth = 367.782976; finalDepth = 338.204490; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.692442 # Actual altitude: 57.692442 # Commanded vehicle depth:367.782976 # Seafloor depth:-425.475418 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 230.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.08; MB_Bottom_Detect_Filter_Max_Range = 230.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 173.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 102.181254 meters # Minimum depth: 409.969637 meters looking forward 100.000000 meters along route # Maximum depth: 415.694424 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 359.969637 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.328859; longitude = -117.649669; captureRadius = 10; duration = 102; initialDepth = 359.969637; finalDepth = 367.782976; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.692442 # Actual altitude: 57.692442 # Commanded vehicle depth:359.969637 # Seafloor depth:-415.694424 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 230.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.08; MB_Bottom_Detect_Filter_Max_Range = 230.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 173.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 7 # Segment length 6.811751 meters # Minimum depth: 409.638908 meters looking forward 100.000000 meters along route # Maximum depth: 413.455616 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 359.638908 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.329235; longitude = -117.648667; captureRadius = 10; duration = 6; # abortOnTimeout = True; initialDepth = 359.638908; finalDepth = 359.969637; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.724787 # Actual altitude: 55.724787 # Commanded vehicle depth:359.638908 # Seafloor depth:-409.638908 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.90; 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 = 222.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 167.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 102.410297 meters # Minimum depth: 402.996943 meters looking forward 100.000000 meters along route # Maximum depth: 409.342051 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 352.996943 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.329248; longitude = -117.648596; captureRadius = 10; duration = 102; initialDepth = 352.996943; finalDepth = 359.638908; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.345108 # Actual altitude: 56.345108 # Commanded vehicle depth:352.996943 # Seafloor depth:-409.342051 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 225.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.54; MB_Bottom_Detect_Filter_Max_Range = 225.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 169.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 102.410057 meters # Minimum depth: 391.289550 meters looking forward 100.000000 meters along route # Maximum depth: 401.201096 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 341.289550 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.329450; longitude = -117.647522; captureRadius = 10; duration = 102; initialDepth = 341.289550; finalDepth = 352.996943; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.911546 # Actual altitude: 59.911546 # Commanded vehicle depth:341.28955 # Seafloor depth:-401.201096 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 239.65; 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 = 239.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 179.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 116.034389 meters # Minimum depth: 377.544557 meters looking forward 100.000000 meters along route # Maximum depth: 388.553690 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 327.544557 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.329651; longitude = -117.646448; captureRadius = 10; duration = 116; initialDepth = 327.544557; finalDepth = 341.289550; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.009133 # Actual altitude: 61.009133 # Commanded vehicle depth:327.544557 # Seafloor depth:-388.553690 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 244.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.40; MB_Bottom_Detect_Filter_Max_Range = 244.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 183.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 6 # Segment length 33.697416 meters # Minimum depth: 374.623825 meters looking forward 100.000000 meters along route # Maximum depth: 379.552903 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 324.623825 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.329879; longitude = -117.645231; captureRadius = 10; duration = 33; # abortOnTimeout = True; initialDepth = 324.623825; finalDepth = 327.544557; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.009133 # Actual altitude: 61.009133 # Commanded vehicle depth:324.623825 # Seafloor depth:-376.264221 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 244.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.40; MB_Bottom_Detect_Filter_Max_Range = 244.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 183.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 109.348721 meters # Minimum depth: 357.965113 meters looking forward 100.000000 meters along route # Maximum depth: 372.551264 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 307.965113 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.330065; longitude = -117.644944; captureRadius = 10; duration = 109; initialDepth = 307.965113; finalDepth = 324.623825; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.586151 # Actual altitude: 64.586151 # Commanded vehicle depth:307.965113 # Seafloor depth:-372.551264 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 258.34; 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 = 258.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 193.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 5 # Segment length 107.852248 meters # Minimum depth: 340.351458 meters looking forward 100.000000 meters along route # Maximum depth: 355.317482 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 290.351458 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.330667; longitude = -117.644014; captureRadius = 10; duration = 107; # abortOnTimeout = True; initialDepth = 290.351458; finalDepth = 307.965113; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.966024 # Actual altitude: 64.966024 # Commanded vehicle depth:290.351458 # Seafloor depth:-355.317482 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 259.86; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.99; MB_Bottom_Detect_Filter_Max_Range = 259.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 194.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 107.872738 meters # Minimum depth: 327.676554 meters looking forward 100.000000 meters along route # Maximum depth: 338.516787 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 277.676554 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.331454; longitude = -117.643334; captureRadius = 10; duration = 107; initialDepth = 277.676554; finalDepth = 290.351458; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.966024 # Actual altitude: 64.966024 # Commanded vehicle depth:277.676554 # Seafloor depth:-338.516787 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 259.86; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.99; MB_Bottom_Detect_Filter_Max_Range = 259.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 194.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 4 # Segment length 94.340491 meters # Minimum depth: 311.913638 meters looking forward 100.000000 meters along route # Maximum depth: 324.564186 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 261.913638 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.332242; longitude = -117.642653; captureRadius = 10; duration = 94; # abortOnTimeout = True; initialDepth = 261.913638; finalDepth = 277.676554; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.650548 # Actual altitude: 62.650548 # Commanded vehicle depth:261.913638 # Seafloor depth:-324.564186 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 250.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.06; MB_Bottom_Detect_Filter_Max_Range = 250.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 187.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 117.850044 meters # Minimum depth: 295.566269 meters looking forward 100.000000 meters along route # Maximum depth: 311.777713 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 245.566269 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.332528; longitude = -117.641698; captureRadius = 10; duration = 117; initialDepth = 245.566269; finalDepth = 261.913638; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.211444 # Actual altitude: 66.211444 # Commanded vehicle depth:245.566269 # Seafloor depth:-311.777713 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 264.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.48; MB_Bottom_Detect_Filter_Max_Range = 264.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 198.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 3 # Segment length 90.427287 meters # Minimum depth: 291.905328 meters looking forward 100.000000 meters along route # Maximum depth: 298.922310 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 241.905328 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.332886; longitude = -117.640506; captureRadius = 10; duration = 90; # abortOnTimeout = True; initialDepth = 241.905328; finalDepth = 245.566269; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.211444 # Actual altitude: 66.211444 # Commanded vehicle depth:241.905328 # Seafloor depth:-296.189362 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 264.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.48; MB_Bottom_Detect_Filter_Max_Range = 264.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 198.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 104.290758 meters # Minimum depth: 276.473905 meters looking forward 100.000000 meters along route # Maximum depth: 289.373828 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 226.473905 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.333119; longitude = -117.639575; captureRadius = 10; duration = 104; initialDepth = 226.473905; finalDepth = 241.905328; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.899923 # Actual altitude: 62.899923 # Commanded vehicle depth:226.473905 # Seafloor depth:-289.373828 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 251.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.16; MB_Bottom_Detect_Filter_Max_Range = 251.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 188.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 111.273817 meters # Minimum depth: 255.890906 meters looking forward 100.000000 meters along route # Maximum depth: 276.473120 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 205.890906 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.333387; longitude = -117.638501; captureRadius = 10; duration = 111; initialDepth = 205.890906; finalDepth = 226.473905; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.582214 # Actual altitude: 70.582214 # Commanded vehicle depth:205.890906 # Seafloor depth:-276.473120 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 282.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.23; MB_Bottom_Detect_Filter_Max_Range = 282.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 2 # Segment length 81.322028 meters # Minimum depth: 243.940522 meters looking forward 100.000000 meters along route # Maximum depth: 255.890906 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 193.940522 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.333674; longitude = -117.637355; captureRadius = 10; duration = 81; # abortOnTimeout = True; initialDepth = 193.940522; finalDepth = 205.890906; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.582214 # Actual altitude: 70.582214 # Commanded vehicle depth:193.940522 # Seafloor depth:-253.781448 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 282.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.23; MB_Bottom_Detect_Filter_Max_Range = 282.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 122.021753 meters # Minimum depth: 228.538561 meters looking forward 100.000000 meters along route # Maximum depth: 243.394414 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 178.538561 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.334247; longitude = -117.637901; captureRadius = 10; duration = 122; initialDepth = 178.538561; finalDepth = 193.940522; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.855853 # Actual altitude: 64.855853 # Commanded vehicle depth:178.538561 # Seafloor depth:-243.394414 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 259.42; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.94; MB_Bottom_Detect_Filter_Max_Range = 259.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 194.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 127.187312 meters # Minimum depth: 219.379073 meters looking forward 100.000000 meters along route # Maximum depth: 228.445856 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 169.379073 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.335106; longitude = -117.638721; captureRadius = 10; duration = 127; initialDepth = 169.379073; finalDepth = 178.538561; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.855853 # Actual altitude: 64.855853 # Commanded vehicle depth:169.379073 # Seafloor depth:-228.445856 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 259.42; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.94; MB_Bottom_Detect_Filter_Max_Range = 259.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 194.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 106.639765 meters # Minimum depth: 215.767181 meters looking forward 100.000000 meters along route # Maximum depth: 219.218686 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 165.767181 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.336001; longitude = -117.639575; captureRadius = 10; duration = 106; initialDepth = 165.767181; finalDepth = 169.379073; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.066783 # Actual altitude: 59.066783 # Commanded vehicle depth:165.767181 # Seafloor depth:-219.218686 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 236.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.63; MB_Bottom_Detect_Filter_Max_Range = 236.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 177.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 1 # Segment length 84.708775 meters # Minimum depth: 210.387330 meters looking forward 100.000000 meters along route # Maximum depth: 216.974552 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 160.387330 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.336752; longitude = -117.640291; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 160.387330; finalDepth = 165.767181; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.587222 # Actual altitude: 56.587222 # Commanded vehicle depth:160.38733 # Seafloor depth:-216.974552 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.35; 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 = 226.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 169.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 101.603754 meters # Minimum depth: 201.358505 meters looking forward 100.000000 meters along route # Maximum depth: 209.617491 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 151.358505 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.337468; longitude = -117.639974; captureRadius = 10; duration = 101; initialDepth = 151.358505; finalDepth = 160.387330; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.258986 # Actual altitude: 58.258986 # Commanded vehicle depth:151.358505 # Seafloor depth:-209.617491 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 233.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.30; MB_Bottom_Detect_Filter_Max_Range = 233.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 174.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 101.603641 meters # Minimum depth: 191.253091 meters looking forward 100.000000 meters along route # Maximum depth: 198.785991 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 141.253091 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.338327; longitude = -117.639594; captureRadius = 10; duration = 101; initialDepth = 141.253091; finalDepth = 151.358505; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.258986 # Actual altitude: 58.258986 # Commanded vehicle depth:141.253091 # Seafloor depth:-198.785991 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 233.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.30; MB_Bottom_Detect_Filter_Max_Range = 233.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 174.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 101.603526 meters # Minimum depth: 182.973819 meters looking forward 100.000000 meters along route # Maximum depth: 190.199450 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 132.973819 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.339187; longitude = -117.639214; captureRadius = 10; duration = 101; initialDepth = 132.973819; finalDepth = 141.253091; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.5329 # Actual altitude: 57.5329 # Commanded vehicle depth:132.973819 # Seafloor depth:-190.199450 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 230.13; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.01; MB_Bottom_Detect_Filter_Max_Range = 230.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 172.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 101.603413 meters # Minimum depth: 168.840097 meters looking forward 100.000000 meters along route # Maximum depth: 179.300297 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 118.840097 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.340046; longitude = -117.638834; captureRadius = 10; duration = 101; initialDepth = 118.840097; finalDepth = 132.973819; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.4602 # Actual altitude: 60.4602 # Commanded vehicle depth:118.840097 # Seafloor depth:-179.300297 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 241.84; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.18; MB_Bottom_Detect_Filter_Max_Range = 241.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 181.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 102.384608 meters # Minimum depth: 158.772970 meters looking forward 100.000000 meters along route # Maximum depth: 167.191431 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 108.772970 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.340905; longitude = -117.638454; captureRadius = 10; duration = 102; initialDepth = 108.772970; finalDepth = 118.840097; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.4602 # Actual altitude: 60.4602 # Commanded vehicle depth:108.77297 # Seafloor depth:-167.191431 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 241.84; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.18; MB_Bottom_Detect_Filter_Max_Range = 241.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 181.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 100.821877 meters # Minimum depth: 146.982325 meters looking forward 100.000000 meters along route # Maximum depth: 158.663106 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 96.982325 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.341770; longitude = -117.638071; captureRadius = 10; duration = 100; initialDepth = 96.982325; finalDepth = 108.772970; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.680781 # Actual altitude: 61.680781 # Commanded vehicle depth:96.982325 # Seafloor depth:-158.663106 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 246.72; 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 = 246.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 185.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 101.603071 meters # Minimum depth: 134.193422 meters looking forward 100.000000 meters along route # Maximum depth: 143.803443 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 84.193422 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.342623; longitude = -117.637694; captureRadius = 10; duration = 101; initialDepth = 84.193422; finalDepth = 96.982325; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.680781 # Actual altitude: 61.680781 # Commanded vehicle depth:84.193422 # Seafloor depth:-143.803443 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 246.72; 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 = 246.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 185.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 101.602958 meters # Minimum depth: 119.872807 meters looking forward 100.000000 meters along route # Maximum depth: 130.752397 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 69.872807 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.343482; longitude = -117.637314; captureRadius = 10; duration = 101; initialDepth = 69.872807; finalDepth = 84.193422; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.87959 # Actual altitude: 60.87959 # Commanded vehicle depth:69.872807 # Seafloor depth:-130.752397 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 243.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.35; MB_Bottom_Detect_Filter_Max_Range = 243.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 182.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 101.602844 meters # Minimum depth: 106.787364 meters looking forward 100.000000 meters along route # Maximum depth: 117.625995 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 56.787364 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.344341; longitude = -117.636934; captureRadius = 10; duration = 101; initialDepth = 56.787364; finalDepth = 69.872807; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.87959 # Actual altitude: 60.87959 # Commanded vehicle depth:56.787364 # Seafloor depth:-117.625995 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 243.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.35; MB_Bottom_Detect_Filter_Max_Range = 243.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 182.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 101.602730 meters # Minimum depth: 98.259257 meters looking forward 100.000000 meters along route # Maximum depth: 106.071541 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 48.259257 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.345200; longitude = -117.636554; captureRadius = 10; duration = 101; initialDepth = 48.259257; finalDepth = 56.787364; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.838631 # Actual altitude: 60.838631 # Commanded vehicle depth:48.259257 # Seafloor depth:-106.071541 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 243.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.34; MB_Bottom_Detect_Filter_Max_Range = 243.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 182.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 101.602616 meters # Minimum depth: 92.097482 meters looking forward 100.000000 meters along route # Maximum depth: 95.697979 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 42.097482 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.346059; longitude = -117.636174; captureRadius = 10; duration = 101; initialDepth = 42.097482; finalDepth = 48.259257; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.812284 # Actual altitude: 57.812284 # Commanded vehicle depth:42.097482 # Seafloor depth:-95.697979 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 231.25; 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 = 231.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 173.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 118.549833 meters # Minimum depth: 88.675349 meters looking forward 100.000000 meters along route # Maximum depth: 91.310972 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 38.675349 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.346919; longitude = -117.635794; captureRadius = 10; duration = 118; initialDepth = 38.675349; finalDepth = 42.097482; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.600497 # Actual altitude: 53.600497 # Commanded vehicle depth:38.675349 # Seafloor depth:-90.851800 # behavior reson { duration = 6; SBP_Power = 100.0; 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; } # ####################################################### ####################################################### # ####################################################### # Turn Mapping sonars on and start logging. # behavior reson { duration = 6; Log_Mode = 1; } # Set sonar parameters # Commanded altitude: 52.176451 # Actual altitude: 52.176451 # 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 = 208.71; 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 = 208.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.53; 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: 91.310972 meters looking forward 100.000000 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 = 33.347921; longitude = -117.635351; captureRadius = 10; duration = 500; initialDepth = 37.411674; finalDepth = 38.675349; 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; } # ####################################################### #######################################################