# 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_3v2.rte # Mission File: 20070714MAUV_2.cfg # Distance: 43933.501965 (m) # Estimated Time: 32511 (s) 9.031 (hr) # Abort Time: 32533 (s) # change to 8.75 hours = 31500 sec # Max battery life: 36000 (s) # Safety margin: 1800 (s) # Ascend time: 1666 (s) # Way Points: 22 # Route Points: 431 # Survey behavior: WaypointDepth # Descent style: Spiral 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: 775 (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 -117.709704 33.178802 -820.396057 0.000000 3 # 1 -117.671951 33.189796 -804.356537 3724.646127 4 # 2 -117.672478 33.191075 -806.836746 3874.716149 3 # 3 -117.710230 33.180080 -820.182129 7599.262531 4 # 4 -117.710757 33.181359 -820.024811 7749.334972 3 # 5 -117.673004 33.192353 -808.825500 11473.885219 4 # 6 -117.673530 33.193632 -804.822952 11623.924363 3 # 7 -117.711284 33.182637 -819.766815 15348.551041 4 # 8 -117.711811 33.183915 -819.579742 15498.518338 3 # 9 -117.674057 33.194910 -805.639664 19223.097091 4 # 10 -117.674583 33.196189 -803.326523 19373.135847 3 # 11 -117.712338 33.185194 -819.337646 23097.754720 4 # 12 -117.712865 33.186472 -819.212860 23247.721629 3 # 13 -117.675110 33.197467 -805.293411 26972.292573 4 # 14 -117.688229 33.195099 -809.556259 28223.019853 3 # 15 -117.683477 33.183559 -812.551849 29576.967058 4 # 16 -117.693356 33.180975 -820.303757 30541.495034 3 # 17 -117.698019 33.192454 -809.073700 31886.354364 4 # 18 -117.713841 33.188270 -818.742157 33432.503517 1 # 19 -117.782213 33.183046 -800.543610 39832.763286 1 # 20 -117.763443 33.193413 -804.010406 41926.298509 1 # 21 -117.761298 33.175399 -810.134552 43933.501965 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 = 31500; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 775.000000; abortDepth = 800.000000; minAltitude = 50.000000; abortAltitude = 30.000000; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = 600; minHits = 15; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 1666; 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 103.524936 meters # Minimum depth: 809.758931 meters looking forward 100.000000 meters along route # Maximum depth: 810.134552 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 759.758931 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.175399; longitude = -117.761298; captureRadius = 10; duration = 103; # abortOnTimeout = True; initialDepth = 759.758931; finalDepth = 759.758931; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.375621 # Actual altitude: 50.375621 # Commanded vehicle depth:759.758931 # Seafloor depth:-810.134552 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.50; 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 = 201.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 119.477571 meters # Minimum depth: 809.133763 meters looking forward 100.000000 meters along route # Maximum depth: 809.637600 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 759.133763 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.176328; longitude = -117.761409; captureRadius = 10; duration = 119; initialDepth = 759.133763; finalDepth = 759.758931; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.503837 # Actual altitude: 50.503837 # Commanded vehicle depth:759.133763 # Seafloor depth:-809.637600 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.02; 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 = 202.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 119.477580 meters # Minimum depth: 808.398759 meters looking forward 100.000000 meters along route # Maximum depth: 809.005381 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 758.398759 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.177400; longitude = -117.761536; captureRadius = 10; duration = 119; initialDepth = 758.398759; finalDepth = 759.133763; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.606622 # Actual altitude: 50.606622 # Commanded vehicle depth:758.398759 # Seafloor depth:-809.005381 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.43; 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 = 202.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 119.477588 meters # Minimum depth: 807.838057 meters looking forward 100.000000 meters along route # Maximum depth: 808.355711 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 757.838057 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.178473; longitude = -117.761664; captureRadius = 10; duration = 119; initialDepth = 757.838057; finalDepth = 758.398759; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.606622 # Actual altitude: 50.606622 # Commanded vehicle depth:757.838057 # Seafloor depth:-808.355711 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.43; 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 = 202.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 119.477596 meters # Minimum depth: 807.216147 meters looking forward 100.000000 meters along route # Maximum depth: 807.711046 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 757.216147 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.179545; longitude = -117.761792; captureRadius = 10; duration = 119; initialDepth = 757.216147; finalDepth = 757.838057; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.517654 # Actual altitude: 50.517654 # Commanded vehicle depth:757.216147 # Seafloor depth:-807.711046 # 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 21 # Segment length 119.477604 meters # Minimum depth: 806.637717 meters looking forward 100.000000 meters along route # Maximum depth: 807.096063 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 756.637717 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.180617; longitude = -117.761919; captureRadius = 10; duration = 119; initialDepth = 756.637717; finalDepth = 757.216147; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.494899 # Actual altitude: 50.494899 # Commanded vehicle depth:756.637717 # Seafloor depth:-807.096063 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.98; 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 = 201.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 119.477613 meters # Minimum depth: 806.115232 meters looking forward 100.000000 meters along route # Maximum depth: 806.528475 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 756.115232 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.181689; longitude = -117.762047; captureRadius = 10; duration = 119; initialDepth = 756.115232; finalDepth = 756.637717; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.458346 # Actual altitude: 50.458346 # Commanded vehicle depth:756.115232 # Seafloor depth:-806.528475 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.18; MB_Bottom_Detect_Filter_Max_Range = 201.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 119.477621 meters # Minimum depth: 805.584017 meters looking forward 100.000000 meters along route # Maximum depth: 806.017708 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 755.584017 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.182762; longitude = -117.762175; captureRadius = 10; duration = 119; initialDepth = 755.584017; finalDepth = 756.115232; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.433691 # Actual altitude: 50.433691 # Commanded vehicle depth:755.584017 # Seafloor depth:-806.017708 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.73; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.17; MB_Bottom_Detect_Filter_Max_Range = 201.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 119.477629 meters # Minimum depth: 805.264457 meters looking forward 100.000000 meters along route # Maximum depth: 805.572581 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 755.264457 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.183834; longitude = -117.762302; captureRadius = 10; duration = 119; initialDepth = 755.264457; finalDepth = 755.584017; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.433691 # Actual altitude: 50.433691 # Commanded vehicle depth:755.264457 # Seafloor depth:-805.572581 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.73; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.17; MB_Bottom_Detect_Filter_Max_Range = 201.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 119.477637 meters # Minimum depth: 804.936996 meters looking forward 100.000000 meters along route # Maximum depth: 805.194132 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 754.936996 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.184906; longitude = -117.762430; captureRadius = 10; duration = 119; initialDepth = 754.936996; finalDepth = 755.264457; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.308124 # Actual altitude: 50.308124 # Commanded vehicle depth:754.936996 # Seafloor depth:-805.194132 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.23; 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 = 201.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 119.477646 meters # Minimum depth: 804.672494 meters looking forward 100.000000 meters along route # Maximum depth: 804.879470 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 754.672494 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.185979; longitude = -117.762558; captureRadius = 10; duration = 119; initialDepth = 754.672494; finalDepth = 754.936996; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.2571359999999 # Actual altitude: 50.2571359999999 # Commanded vehicle depth:754.672494 # Seafloor depth:-804.879470 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.03; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.10; MB_Bottom_Detect_Filter_Max_Range = 201.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 119.477654 meters # Minimum depth: 804.461992 meters looking forward 100.000000 meters along route # Maximum depth: 804.626044 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 754.461992 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.187051; longitude = -117.762685; captureRadius = 10; duration = 119; initialDepth = 754.461992; finalDepth = 754.672494; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.2069759999999 # Actual altitude: 50.2069759999999 # Commanded vehicle depth:754.461992 # Seafloor depth:-804.626044 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.08; MB_Bottom_Detect_Filter_Max_Range = 200.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 120.854548 meters # Minimum depth: 804.275346 meters looking forward 100.000000 meters along route # Maximum depth: 804.426260 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 754.275346 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.188123; longitude = -117.762813; captureRadius = 10; duration = 120; initialDepth = 754.275346; finalDepth = 754.461992; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.164052 # Actual altitude: 50.164052 # Commanded vehicle depth:754.275346 # Seafloor depth:-804.426260 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.07; MB_Bottom_Detect_Filter_Max_Range = 200.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 118.100785 meters # Minimum depth: 804.183611 meters looking forward 100.000000 meters along route # Maximum depth: 804.273876 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 754.183611 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.189208; longitude = -117.762942; captureRadius = 10; duration = 118; initialDepth = 754.183611; finalDepth = 754.275346; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.1509139999999 # Actual altitude: 50.1509139999999 # Commanded vehicle depth:754.183611 # Seafloor depth:-804.273876 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.06; MB_Bottom_Detect_Filter_Max_Range = 200.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 119.477678 meters # Minimum depth: 804.100187 meters looking forward 100.000000 meters along route # Maximum depth: 804.164470 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 754.100187 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.190268; longitude = -117.763068; captureRadius = 10; duration = 119; initialDepth = 754.100187; finalDepth = 754.183611; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.0902649999999 # Actual altitude: 50.0902649999999 # Commanded vehicle depth:754.100187 # Seafloor depth:-804.164470 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.36; 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 = 200.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 119.477687 meters # Minimum depth: 804.044685 meters looking forward 100.000000 meters along route # Maximum depth: 804.086951 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 754.044685 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.191340; longitude = -117.763196; captureRadius = 10; duration = 119; initialDepth = 754.044685; finalDepth = 754.100187; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.064283 # Actual altitude: 50.064283 # Commanded vehicle depth:754.044685 # Seafloor depth:-804.086951 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.03; MB_Bottom_Detect_Filter_Max_Range = 200.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 111.514083 meters # Minimum depth: 804.012187 meters looking forward 100.000000 meters along route # Maximum depth: 804.036458 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 754.012187 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.192412; longitude = -117.763324; captureRadius = 10; duration = 111; initialDepth = 754.012187; finalDepth = 754.044685; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.042266 # Actual altitude: 50.042266 # Commanded vehicle depth:754.012187 # Seafloor depth:-804.036458 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.17; 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 = 200.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 20 # Segment length 115.484720 meters # Minimum depth: 804.010406 meters looking forward 100.000000 meters along route # Maximum depth: 804.020321 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 754.010406 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.193413; longitude = -117.763443; captureRadius = 10; duration = 115; # abortOnTimeout = True; initialDepth = 754.010406; finalDepth = 754.012187; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.024271 # Actual altitude: 50.024271 # Commanded vehicle depth:754.010406 # Seafloor depth:-804.010406 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.10; 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 = 200.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 115.689644 meters # Minimum depth: 804.006542 meters looking forward 100.000000 meters along route # Maximum depth: 804.020209 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 754.006542 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.192841; longitude = -117.764478; captureRadius = 10; duration = 115; initialDepth = 754.006542; finalDepth = 754.010406; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.0136670000001 # Actual altitude: 50.0136670000001 # Commanded vehicle depth:754.006542 # Seafloor depth:-804.020209 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.05; 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 = 200.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 100.840336 meters # Minimum depth: 803.950149 meters looking forward 100.000000 meters along route # Maximum depth: 803.999268 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 753.950149 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.192268; longitude = -117.765516; captureRadius = 10; duration = 100; initialDepth = 753.950149; finalDepth = 754.006542; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.049119 # Actual altitude: 50.049119 # Commanded vehicle depth:753.950149 # Seafloor depth:-803.999268 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.20; 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 = 200.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 114.428615 meters # Minimum depth: 803.868347 meters looking forward 100.000000 meters along route # Maximum depth: 803.946349 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 753.868347 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.191769; longitude = -117.766420; captureRadius = 10; duration = 114; initialDepth = 753.868347; finalDepth = 753.950149; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.0780020000001 # Actual altitude: 50.0780020000001 # Commanded vehicle depth:753.868347 # Seafloor depth:-803.946349 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.31; 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 = 200.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 102.103267 meters # Minimum depth: 803.717256 meters looking forward 100.000000 meters along route # Maximum depth: 803.842411 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 753.717256 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.191202; longitude = -117.767446; captureRadius = 10; duration = 102; initialDepth = 753.717256; finalDepth = 753.868347; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.1251549999999 # Actual altitude: 50.1251549999999 # Commanded vehicle depth:753.717256 # Seafloor depth:-803.842411 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.05; MB_Bottom_Detect_Filter_Max_Range = 200.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 113.167564 meters # Minimum depth: 803.556260 meters looking forward 100.000000 meters along route # Maximum depth: 803.707301 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 753.556260 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.190697; longitude = -117.768361; captureRadius = 10; duration = 113; initialDepth = 753.556260; finalDepth = 753.717256; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.1510410000001 # Actual altitude: 50.1510410000001 # Commanded vehicle depth:753.55626 # Seafloor depth:-803.707301 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.06; MB_Bottom_Detect_Filter_Max_Range = 200.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 103.366220 meters # Minimum depth: 803.308709 meters looking forward 100.000000 meters along route # Maximum depth: 803.510852 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 753.308709 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.190136; longitude = -117.769376; captureRadius = 10; duration = 103; initialDepth = 753.308709; finalDepth = 753.556260; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.202143 # Actual altitude: 50.202143 # Commanded vehicle depth:753.308709 # Seafloor depth:-803.510852 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.08; MB_Bottom_Detect_Filter_Max_Range = 200.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 111.906489 meters # Minimum depth: 803.076157 meters looking forward 100.000000 meters along route # Maximum depth: 803.291048 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 753.076157 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.189624; longitude = -117.770303; captureRadius = 10; duration = 111; initialDepth = 753.076157; finalDepth = 753.308709; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.2148910000001 # Actual altitude: 50.2148910000001 # Commanded vehicle depth:753.076157 # Seafloor depth:-803.291048 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.86; 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 = 200.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 104.629196 meters # Minimum depth: 802.746290 meters looking forward 100.000000 meters along route # Maximum depth: 803.013116 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 752.746290 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.189070; longitude = -117.771306; captureRadius = 10; duration = 104; initialDepth = 752.746290; finalDepth = 753.076157; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.2668259999999 # Actual altitude: 50.2668259999999 # Commanded vehicle depth:752.74629 # Seafloor depth:-803.013116 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.07; 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 = 201.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 110.645393 meters # Minimum depth: 802.458050 meters looking forward 100.000000 meters along route # Maximum depth: 802.720042 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 752.458050 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.188552; longitude = -117.772244; captureRadius = 10; duration = 110; initialDepth = 752.458050; finalDepth = 752.746290; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.2668259999999 # Actual altitude: 50.2668259999999 # Commanded vehicle depth:752.45805 # Seafloor depth:-802.720042 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.07; 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 = 201.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 105.892193 meters # Minimum depth: 802.079279 meters looking forward 100.000000 meters along route # Maximum depth: 802.383892 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 752.079279 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.188004; longitude = -117.773236; captureRadius = 10; duration = 105; initialDepth = 752.079279; finalDepth = 752.458050; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.3046129999999 # Actual altitude: 50.3046129999999 # Commanded vehicle depth:752.079279 # Seafloor depth:-802.383892 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.22; 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 = 201.22; 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 20 # Segment length 109.384276 meters # Minimum depth: 801.769184 meters looking forward 100.000000 meters along route # Maximum depth: 802.046754 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 751.769184 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.187480; longitude = -117.774185; captureRadius = 10; duration = 109; initialDepth = 751.769184; finalDepth = 752.079279; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.3046129999999 # Actual altitude: 50.3046129999999 # Commanded vehicle depth:751.769184 # Seafloor depth:-802.046754 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.22; 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 = 201.22; 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 20 # Segment length 107.155213 meters # Minimum depth: 801.408518 meters looking forward 100.000000 meters along route # Maximum depth: 801.697627 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 751.408518 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.186938; longitude = -117.775166; captureRadius = 10; duration = 107; initialDepth = 751.408518; finalDepth = 751.769184; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.2891090000001 # Actual altitude: 50.2891090000001 # Commanded vehicle depth:751.408518 # Seafloor depth:-801.697627 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.12; MB_Bottom_Detect_Filter_Max_Range = 201.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 108.123136 meters # Minimum depth: 801.145435 meters looking forward 100.000000 meters along route # Maximum depth: 801.375802 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 751.145435 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.186407; longitude = -117.776127; captureRadius = 10; duration = 108; initialDepth = 751.145435; finalDepth = 751.408518; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.2891090000001 # Actual altitude: 50.2891090000001 # Commanded vehicle depth:751.145435 # Seafloor depth:-801.375802 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.12; MB_Bottom_Detect_Filter_Max_Range = 201.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 108.418254 meters # Minimum depth: 800.897030 meters looking forward 100.000000 meters along route # Maximum depth: 801.093914 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 750.897030 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.185872; longitude = -117.777096; captureRadius = 10; duration = 108; initialDepth = 750.897030; finalDepth = 751.145435; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.230367 # Actual altitude: 50.230367 # Commanded vehicle depth:750.89703 # Seafloor depth:-801.093914 # 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 20 # Segment length 106.861974 meters # Minimum depth: 800.750689 meters looking forward 100.000000 meters along route # Maximum depth: 800.874965 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 750.750689 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.185335; longitude = -117.778068; captureRadius = 10; duration = 106; initialDepth = 750.750689; finalDepth = 750.897030; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.1968840000001 # Actual altitude: 50.1968840000001 # Commanded vehicle depth:750.750689 # Seafloor depth:-800.874965 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.08; MB_Bottom_Detect_Filter_Max_Range = 200.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 119.600939 meters # Minimum depth: 800.638431 meters looking forward 100.000000 meters along route # Maximum depth: 800.728225 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 750.638431 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.184806; longitude = -117.779026; captureRadius = 10; duration = 119; initialDepth = 750.638431; finalDepth = 750.750689; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.124276 # Actual altitude: 50.124276 # Commanded vehicle depth:750.638431 # Seafloor depth:-800.728225 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.05; MB_Bottom_Detect_Filter_Max_Range = 200.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 120.007268 meters # Minimum depth: 800.579899 meters looking forward 100.000000 meters along route # Maximum depth: 800.632539 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 750.579899 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.184214; longitude = -117.780099; captureRadius = 10; duration = 120; initialDepth = 750.579899; finalDepth = 750.638431; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.089794 # Actual altitude: 50.089794 # Commanded vehicle depth:750.579899 # Seafloor depth:-800.632539 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.36; 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 = 200.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 115.830526 meters # Minimum depth: 800.547779 meters looking forward 100.000000 meters along route # Maximum depth: 800.579745 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 750.547779 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.183620; longitude = -117.781175; captureRadius = 10; duration = 115; initialDepth = 750.547779; finalDepth = 750.579899; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.05264 # Actual altitude: 50.05264 # Commanded vehicle depth:750.547779 # Seafloor depth:-800.579745 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.21; 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 = 200.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 19 # Segment length 57.402143 meters # Minimum depth: 800.543610 meters looking forward 100.000000 meters along route # Maximum depth: 800.550932 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 750.543610 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.183046; longitude = -117.782213; captureRadius = 10; duration = 57; # abortOnTimeout = True; initialDepth = 750.543610; finalDepth = 750.547779; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.031966 # Actual altitude: 50.031966 # Commanded vehicle depth:750.54361 # Seafloor depth:-800.543610 # 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 19 # Segment length 100.378190 meters # Minimum depth: 800.556056 meters looking forward 100.000000 meters along route # Maximum depth: 800.575272 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 750.556056 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.183093; longitude = -117.781600; captureRadius = 10; duration = 100; initialDepth = 750.556056; finalDepth = 750.543610; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:750.556056 # Seafloor depth:-800.556056 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.378080 meters # Minimum depth: 800.580341 meters looking forward 100.000000 meters along route # Maximum depth: 800.605231 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 750.580341 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.183175; longitude = -117.780528; captureRadius = 10; duration = 100; initialDepth = 750.580341; finalDepth = 750.556056; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:750.580341 # Seafloor depth:-800.580341 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.377969 meters # Minimum depth: 800.613669 meters looking forward 100.000000 meters along route # Maximum depth: 800.661546 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 750.613669 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.183257; longitude = -117.779455; captureRadius = 10; duration = 100; initialDepth = 750.613669; finalDepth = 750.580341; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:750.613669 # Seafloor depth:-800.613669 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.377859 meters # Minimum depth: 800.678273 meters looking forward 100.000000 meters along route # Maximum depth: 800.771639 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 750.678273 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.183339; longitude = -117.778383; captureRadius = 10; duration = 100; initialDepth = 750.678273; finalDepth = 750.613669; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:750.678273 # Seafloor depth:-800.678273 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.377748 meters # Minimum depth: 800.799684 meters looking forward 100.000000 meters along route # Maximum depth: 800.947894 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 750.799684 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.183421; longitude = -117.777311; captureRadius = 10; duration = 100; initialDepth = 750.799684; finalDepth = 750.678273; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:750.799684 # Seafloor depth:-800.799684 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.377637 meters # Minimum depth: 800.992701 meters looking forward 100.000000 meters along route # Maximum depth: 801.196816 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 750.992701 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.183502; longitude = -117.776238; captureRadius = 10; duration = 100; initialDepth = 750.992701; finalDepth = 750.799684; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:750.992701 # Seafloor depth:-800.992701 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.377527 meters # Minimum depth: 801.254348 meters looking forward 100.000000 meters along route # Maximum depth: 801.504372 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 751.254348 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.183584; longitude = -117.775166; captureRadius = 10; duration = 100; initialDepth = 751.254348; finalDepth = 750.992701; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:751.254348 # Seafloor depth:-801.254348 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.377416 meters # Minimum depth: 801.570758 meters looking forward 100.000000 meters along route # Maximum depth: 801.849394 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 751.570758 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.183666; longitude = -117.774094; captureRadius = 10; duration = 100; initialDepth = 751.570758; finalDepth = 751.254348; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:751.570758 # Seafloor depth:-801.570758 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.377306 meters # Minimum depth: 801.922318 meters looking forward 100.000000 meters along route # Maximum depth: 802.218552 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 751.922318 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.183748; longitude = -117.773022; captureRadius = 10; duration = 100; initialDepth = 751.922318; finalDepth = 751.570758; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:751.922318 # Seafloor depth:-801.922318 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.377195 meters # Minimum depth: 802.294029 meters looking forward 100.000000 meters along route # Maximum depth: 802.600944 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 752.294029 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.183830; longitude = -117.771949; captureRadius = 10; duration = 100; initialDepth = 752.294029; finalDepth = 751.922318; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:752.294029 # Seafloor depth:-802.294029 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.377085 meters # Minimum depth: 802.679439 meters looking forward 100.000000 meters along route # Maximum depth: 802.994121 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 752.679439 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.183912; longitude = -117.770877; captureRadius = 10; duration = 100; initialDepth = 752.679439; finalDepth = 752.294029; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:752.679439 # Seafloor depth:-802.679439 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.376975 meters # Minimum depth: 803.073131 meters looking forward 100.000000 meters along route # Maximum depth: 803.391319 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 753.073131 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.183994; longitude = -117.769805; captureRadius = 10; duration = 100; initialDepth = 753.073131; finalDepth = 752.679439; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:753.073131 # Seafloor depth:-803.073131 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.376864 meters # Minimum depth: 803.470787 meters looking forward 100.000000 meters along route # Maximum depth: 803.784544 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 753.470787 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.184076; longitude = -117.768733; captureRadius = 10; duration = 100; initialDepth = 753.470787; finalDepth = 753.073131; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:753.470787 # Seafloor depth:-803.470787 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.376753 meters # Minimum depth: 803.861929 meters looking forward 100.000000 meters along route # Maximum depth: 804.161682 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 753.861929 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.184158; longitude = -117.767660; captureRadius = 10; duration = 100; initialDepth = 753.861929; finalDepth = 753.470787; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:753.861929 # Seafloor depth:-803.861929 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.376644 meters # Minimum depth: 804.233585 meters looking forward 100.000000 meters along route # Maximum depth: 804.509713 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 754.233585 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.184240; longitude = -117.766588; captureRadius = 10; duration = 100; initialDepth = 754.233585; finalDepth = 753.861929; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:754.233585 # Seafloor depth:-804.233585 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.376533 meters # Minimum depth: 804.574879 meters looking forward 100.000000 meters along route # Maximum depth: 804.816775 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 754.574879 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.184322; longitude = -117.765516; captureRadius = 10; duration = 100; initialDepth = 754.574879; finalDepth = 754.233585; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:754.574879 # Seafloor depth:-804.574879 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.376422 meters # Minimum depth: 804.873062 meters looking forward 100.000000 meters along route # Maximum depth: 805.099945 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 754.873062 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.184404; longitude = -117.764443; captureRadius = 10; duration = 100; initialDepth = 754.873062; finalDepth = 754.574879; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:754.873062 # Seafloor depth:-804.873062 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.376313 meters # Minimum depth: 805.122973 meters looking forward 100.000000 meters along route # Maximum depth: 805.287779 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 755.122973 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.184486; longitude = -117.763371; captureRadius = 10; duration = 100; initialDepth = 755.122973; finalDepth = 754.873062; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:755.122973 # Seafloor depth:-805.122973 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.376202 meters # Minimum depth: 805.324150 meters looking forward 100.000000 meters along route # Maximum depth: 805.449398 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 755.324150 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.184568; longitude = -117.762299; captureRadius = 10; duration = 100; initialDepth = 755.324150; finalDepth = 755.122973; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:755.32415 # Seafloor depth:-805.324150 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.376092 meters # Minimum depth: 805.475978 meters looking forward 100.000000 meters along route # Maximum depth: 805.565469 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 755.475978 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.184649; longitude = -117.761227; captureRadius = 10; duration = 100; initialDepth = 755.475978; finalDepth = 755.324150; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:755.475978 # Seafloor depth:-805.475978 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.375982 meters # Minimum depth: 805.583542 meters looking forward 100.000000 meters along route # Maximum depth: 805.643301 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 755.583542 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.184731; longitude = -117.760154; captureRadius = 10; duration = 100; initialDepth = 755.583542; finalDepth = 755.475978; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:755.583542 # Seafloor depth:-805.583542 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.375871 meters # Minimum depth: 805.654617 meters looking forward 100.000000 meters along route # Maximum depth: 805.689767 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 755.654617 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.184813; longitude = -117.759082; captureRadius = 10; duration = 100; initialDepth = 755.654617; finalDepth = 755.583542; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:755.654617 # Seafloor depth:-805.654617 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.375762 meters # Minimum depth: 805.696587 meters looking forward 100.000000 meters along route # Maximum depth: 805.716463 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 755.696587 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.184895; longitude = -117.758010; captureRadius = 10; duration = 100; initialDepth = 755.696587; finalDepth = 755.654617; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:755.696587 # Seafloor depth:-805.696587 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.375651 meters # Minimum depth: 805.720249 meters looking forward 100.000000 meters along route # Maximum depth: 805.733366 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 755.720249 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.184977; longitude = -117.756938; captureRadius = 10; duration = 100; initialDepth = 755.720249; finalDepth = 755.696587; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:755.720249 # Seafloor depth:-805.720249 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.375541 meters # Minimum depth: 805.736505 meters looking forward 100.000000 meters along route # Maximum depth: 805.750709 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 755.736505 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.185059; longitude = -117.755865; captureRadius = 10; duration = 100; initialDepth = 755.736505; finalDepth = 755.720249; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:755.736505 # Seafloor depth:-805.736505 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.375432 meters # Minimum depth: 805.756087 meters looking forward 100.000000 meters along route # Maximum depth: 805.780911 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 755.756087 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.185141; longitude = -117.754793; captureRadius = 10; duration = 100; initialDepth = 755.756087; finalDepth = 755.736505; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:755.756087 # Seafloor depth:-805.756087 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.375321 meters # Minimum depth: 805.789216 meters looking forward 100.000000 meters along route # Maximum depth: 805.833747 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 755.789216 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.185223; longitude = -117.753721; captureRadius = 10; duration = 100; initialDepth = 755.789216; finalDepth = 755.756087; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:755.789216 # Seafloor depth:-805.789216 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.375211 meters # Minimum depth: 805.847647 meters looking forward 100.000000 meters along route # Maximum depth: 805.918711 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 755.847647 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.185305; longitude = -117.752648; captureRadius = 10; duration = 100; initialDepth = 755.847647; finalDepth = 755.789216; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:755.847647 # Seafloor depth:-805.847647 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.375101 meters # Minimum depth: 805.940387 meters looking forward 100.000000 meters along route # Maximum depth: 806.041859 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 755.940387 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.185387; longitude = -117.751576; captureRadius = 10; duration = 100; initialDepth = 755.940387; finalDepth = 755.847647; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:755.940387 # Seafloor depth:-805.940387 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.374991 meters # Minimum depth: 806.072261 meters looking forward 100.000000 meters along route # Maximum depth: 806.241658 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 756.072261 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.185469; longitude = -117.750504; captureRadius = 10; duration = 100; initialDepth = 756.072261; finalDepth = 755.940387; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:756.072261 # Seafloor depth:-806.072261 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.374881 meters # Minimum depth: 806.244015 meters looking forward 100.000000 meters along route # Maximum depth: 806.410599 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 756.244015 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.185551; longitude = -117.749432; captureRadius = 10; duration = 100; initialDepth = 756.244015; finalDepth = 756.072261; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:756.244015 # Seafloor depth:-806.244015 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.374771 meters # Minimum depth: 806.456355 meters looking forward 100.000000 meters along route # Maximum depth: 806.648939 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 756.456355 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.185633; longitude = -117.748359; captureRadius = 10; duration = 100; initialDepth = 756.456355; finalDepth = 756.244015; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:756.456355 # Seafloor depth:-806.456355 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.374661 meters # Minimum depth: 806.699883 meters looking forward 100.000000 meters along route # Maximum depth: 806.911647 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 756.699883 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.185715; longitude = -117.747287; captureRadius = 10; duration = 100; initialDepth = 756.699883; finalDepth = 756.456355; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:756.699883 # Seafloor depth:-806.699883 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.374552 meters # Minimum depth: 806.966698 meters looking forward 100.000000 meters along route # Maximum depth: 807.193150 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 756.966698 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.185796; longitude = -117.746215; captureRadius = 10; duration = 100; initialDepth = 756.966698; finalDepth = 756.699883; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:756.966698 # Seafloor depth:-806.966698 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.374441 meters # Minimum depth: 807.250274 meters looking forward 100.000000 meters along route # Maximum depth: 807.485341 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 757.250274 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.185878; longitude = -117.745143; captureRadius = 10; duration = 100; initialDepth = 757.250274; finalDepth = 756.966698; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:757.250274 # Seafloor depth:-807.250274 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.374332 meters # Minimum depth: 807.544240 meters looking forward 100.000000 meters along route # Maximum depth: 807.784168 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 757.544240 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.185960; longitude = -117.744070; captureRadius = 10; duration = 100; initialDepth = 757.544240; finalDepth = 757.250274; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:757.54424 # Seafloor depth:-807.544240 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.374222 meters # Minimum depth: 807.844375 meters looking forward 100.000000 meters along route # Maximum depth: 808.089177 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 757.844375 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.186042; longitude = -117.742998; captureRadius = 10; duration = 100; initialDepth = 757.844375; finalDepth = 757.544240; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:757.844375 # Seafloor depth:-807.844375 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.374112 meters # Minimum depth: 808.151062 meters looking forward 100.000000 meters along route # Maximum depth: 808.414105 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 758.151062 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.186124; longitude = -117.741926; captureRadius = 10; duration = 100; initialDepth = 758.151062; finalDepth = 757.844375; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:758.151062 # Seafloor depth:-808.151062 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.374002 meters # Minimum depth: 808.464451 meters looking forward 100.000000 meters along route # Maximum depth: 808.720354 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 758.464451 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.186206; longitude = -117.740853; captureRadius = 10; duration = 100; initialDepth = 758.464451; finalDepth = 758.151062; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:758.464451 # Seafloor depth:-808.464451 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.373893 meters # Minimum depth: 808.785247 meters looking forward 100.000000 meters along route # Maximum depth: 809.049245 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 758.785247 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.186288; longitude = -117.739781; captureRadius = 10; duration = 100; initialDepth = 758.785247; finalDepth = 758.464451; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:758.785247 # Seafloor depth:-808.785247 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.373783 meters # Minimum depth: 809.116778 meters looking forward 100.000000 meters along route # Maximum depth: 809.390399 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 759.116778 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.186370; longitude = -117.738709; captureRadius = 10; duration = 100; initialDepth = 759.116778; finalDepth = 758.785247; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:759.116778 # Seafloor depth:-809.116778 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.373673 meters # Minimum depth: 809.460506 meters looking forward 100.000000 meters along route # Maximum depth: 809.746204 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 759.460506 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.186452; longitude = -117.737637; captureRadius = 10; duration = 100; initialDepth = 759.460506; finalDepth = 759.116778; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:759.460506 # Seafloor depth:-809.460506 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.373564 meters # Minimum depth: 809.818823 meters looking forward 100.000000 meters along route # Maximum depth: 810.114907 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 759.818823 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.186534; longitude = -117.736564; captureRadius = 10; duration = 100; initialDepth = 759.818823; finalDepth = 759.460506; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:759.818823 # Seafloor depth:-809.818823 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.373454 meters # Minimum depth: 810.190704 meters looking forward 100.000000 meters along route # Maximum depth: 810.497092 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 760.190704 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.186616; longitude = -117.735492; captureRadius = 10; duration = 100; initialDepth = 760.190704; finalDepth = 759.818823; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:760.190704 # Seafloor depth:-810.190704 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.373344 meters # Minimum depth: 810.575208 meters looking forward 100.000000 meters along route # Maximum depth: 810.891981 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 760.575208 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.186698; longitude = -117.734420; captureRadius = 10; duration = 100; initialDepth = 760.575208; finalDepth = 760.190704; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:760.575208 # Seafloor depth:-810.575208 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.373235 meters # Minimum depth: 810.971993 meters looking forward 100.000000 meters along route # Maximum depth: 811.297201 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 760.971993 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.186780; longitude = -117.733348; captureRadius = 10; duration = 100; initialDepth = 760.971993; finalDepth = 760.575208; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:760.971993 # Seafloor depth:-810.971993 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.373125 meters # Minimum depth: 811.379088 meters looking forward 100.000000 meters along route # Maximum depth: 811.710131 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 761.379088 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.186862; longitude = -117.732275; captureRadius = 10; duration = 100; initialDepth = 761.379088; finalDepth = 760.971993; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:761.379088 # Seafloor depth:-811.379088 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.373016 meters # Minimum depth: 811.794133 meters looking forward 100.000000 meters along route # Maximum depth: 812.132083 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 761.794133 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.186943; longitude = -117.731203; captureRadius = 10; duration = 100; initialDepth = 761.794133; finalDepth = 761.379088; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:761.794133 # Seafloor depth:-811.794133 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.372906 meters # Minimum depth: 812.217362 meters looking forward 100.000000 meters along route # Maximum depth: 812.560183 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 762.217362 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.187025; longitude = -117.730131; captureRadius = 10; duration = 100; initialDepth = 762.217362; finalDepth = 761.794133; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:762.217362 # Seafloor depth:-812.217362 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.372796 meters # Minimum depth: 812.646008 meters looking forward 100.000000 meters along route # Maximum depth: 812.992876 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 762.646008 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.187107; longitude = -117.729058; captureRadius = 10; duration = 100; initialDepth = 762.646008; finalDepth = 762.217362; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:762.646008 # Seafloor depth:-812.646008 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.372688 meters # Minimum depth: 813.079896 meters looking forward 100.000000 meters along route # Maximum depth: 813.485319 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 763.079896 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.187189; longitude = -117.727986; captureRadius = 10; duration = 100; initialDepth = 763.079896; finalDepth = 762.646008; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:763.079896 # Seafloor depth:-813.079896 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.372577 meters # Minimum depth: 813.516667 meters looking forward 100.000000 meters along route # Maximum depth: 813.868450 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 763.516667 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.187271; longitude = -117.726914; captureRadius = 10; duration = 100; initialDepth = 763.516667; finalDepth = 763.079896; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:763.516667 # Seafloor depth:-813.516667 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.372469 meters # Minimum depth: 813.956842 meters looking forward 100.000000 meters along route # Maximum depth: 814.311174 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 763.956842 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.187353; longitude = -117.725842; captureRadius = 10; duration = 100; initialDepth = 763.956842; finalDepth = 763.516667; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:763.956842 # Seafloor depth:-813.956842 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.372359 meters # Minimum depth: 814.400035 meters looking forward 100.000000 meters along route # Maximum depth: 814.755619 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 764.400035 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.187435; longitude = -117.724769; captureRadius = 10; duration = 100; initialDepth = 764.400035; finalDepth = 763.956842; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:764.400035 # Seafloor depth:-814.400035 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.372249 meters # Minimum depth: 814.844658 meters looking forward 100.000000 meters along route # Maximum depth: 815.200625 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 764.844658 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.187517; longitude = -117.723697; captureRadius = 10; duration = 100; initialDepth = 764.844658; finalDepth = 764.400035; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:764.844658 # Seafloor depth:-814.844658 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.372141 meters # Minimum depth: 815.289361 meters looking forward 100.000000 meters along route # Maximum depth: 815.644758 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 765.289361 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.187599; longitude = -117.722625; captureRadius = 10; duration = 100; initialDepth = 765.289361; finalDepth = 764.844658; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:765.289361 # Seafloor depth:-815.289361 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.372030 meters # Minimum depth: 815.733276 meters looking forward 100.000000 meters along route # Maximum depth: 816.088920 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 765.733276 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.187681; longitude = -117.721553; captureRadius = 10; duration = 100; initialDepth = 765.733276; finalDepth = 765.289361; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:765.733276 # Seafloor depth:-815.733276 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.371922 meters # Minimum depth: 816.178085 meters looking forward 100.000000 meters along route # Maximum depth: 816.534775 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 766.178085 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.187763; longitude = -117.720480; captureRadius = 10; duration = 100; initialDepth = 766.178085; finalDepth = 765.733276; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:766.178085 # Seafloor depth:-816.178085 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.371813 meters # Minimum depth: 816.624419 meters looking forward 100.000000 meters along route # Maximum depth: 816.983441 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 766.624419 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.187845; longitude = -117.719408; captureRadius = 10; duration = 100; initialDepth = 766.624419; finalDepth = 766.178085; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:766.624419 # Seafloor depth:-816.624419 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.371703 meters # Minimum depth: 817.073193 meters looking forward 100.000000 meters along route # Maximum depth: 817.424021 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 767.073193 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.187927; longitude = -117.718336; captureRadius = 10; duration = 100; initialDepth = 767.073193; finalDepth = 766.624419; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:767.073193 # Seafloor depth:-817.073193 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.371594 meters # Minimum depth: 817.509228 meters looking forward 100.000000 meters along route # Maximum depth: 817.832390 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 767.509228 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.188009; longitude = -117.717263; captureRadius = 10; duration = 100; initialDepth = 767.509228; finalDepth = 767.073193; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:767.509228 # Seafloor depth:-817.509228 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.371484 meters # Minimum depth: 817.909091 meters looking forward 100.000000 meters along route # Maximum depth: 818.206453 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 767.909091 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.188090; longitude = -117.716191; captureRadius = 10; duration = 100; initialDepth = 767.909091; finalDepth = 767.509228; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:767.909091 # Seafloor depth:-817.909091 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 119.618161 meters # Minimum depth: 818.281110 meters looking forward 100.000000 meters along route # Maximum depth: 818.693377 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 768.281110 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.188172; longitude = -117.715119; captureRadius = 10; duration = 119; initialDepth = 768.281110; finalDepth = 767.909091; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:768.28111 # Seafloor depth:-818.281110 # 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 18 # Segment length 63.735707 meters # Minimum depth: 818.693377 meters looking forward 100.000000 meters along route # Maximum depth: 818.981223 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 768.693377 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.188270; longitude = -117.713841; captureRadius = 10; duration = 63; # abortOnTimeout = True; initialDepth = 768.693377; finalDepth = 768.281110; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.04878 # Actual altitude: 50.04878 # Commanded vehicle depth:768.693377 # Seafloor depth:-818.742157 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.20; 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 = 200.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 104.786126 meters # Minimum depth: 819.083815 meters looking forward 100.000000 meters along route # Maximum depth: 819.542418 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 769.083815 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.188442; longitude = -117.713189; captureRadius = 10; duration = 104; initialDepth = 769.083815; finalDepth = 768.693377; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.04878 # Actual altitude: 50.04878 # Commanded vehicle depth:769.083815 # Seafloor depth:-819.083815 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.20; 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 = 200.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 104.785801 meters # Minimum depth: 819.725098 meters looking forward 100.000000 meters along route # Maximum depth: 820.938515 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 769.725098 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.188726; longitude = -117.712117; captureRadius = 10; duration = 104; initialDepth = 769.725098; finalDepth = 769.083815; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:769.725098 # Seafloor depth:-819.725098 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 104.785477 meters # Minimum depth: 820.396180 meters looking forward 100.000000 meters along route # Maximum depth: 820.876333 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 770.396180 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.189010; longitude = -117.711044; captureRadius = 10; duration = 104; initialDepth = 770.396180; finalDepth = 769.725098; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.258827 # Actual altitude: 50.258827 # Commanded vehicle depth:770.39618 # Seafloor depth:-820.655007 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.10; MB_Bottom_Detect_Filter_Max_Range = 201.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 104.785154 meters # Minimum depth: 819.861397 meters looking forward 100.000000 meters along route # Maximum depth: 820.989123 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 769.861397 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.189293; longitude = -117.709972; captureRadius = 10; duration = 104; initialDepth = 769.861397; finalDepth = 770.396180; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.8525989999999 # Actual altitude: 50.8525989999999 # Commanded vehicle depth:769.861397 # Seafloor depth:-820.713996 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.41; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.34; MB_Bottom_Detect_Filter_Max_Range = 203.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 104.784830 meters # Minimum depth: 816.667620 meters looking forward 100.000000 meters along route # Maximum depth: 819.021763 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 766.667620 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.189577; longitude = -117.708900; captureRadius = 10; duration = 104; initialDepth = 766.667620; finalDepth = 769.861397; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.3541429999999 # Actual altitude: 52.3541429999999 # Commanded vehicle depth:766.66762 # Seafloor depth:-819.021763 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.42; 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 = 209.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 104.784505 meters # Minimum depth: 815.580835 meters looking forward 100.000000 meters along route # Maximum depth: 816.433954 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 765.580835 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.189860; longitude = -117.707827; captureRadius = 10; duration = 104; initialDepth = 765.580835; finalDepth = 766.667620; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.3541429999999 # Actual altitude: 52.3541429999999 # Commanded vehicle depth:765.580835 # Seafloor depth:-816.433954 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.42; 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 = 209.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 104.784182 meters # Minimum depth: 802.728519 meters looking forward 100.000000 meters along route # Maximum depth: 815.114604 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 752.728519 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.190144; longitude = -117.706755; captureRadius = 10; duration = 104; initialDepth = 752.728519; finalDepth = 765.580835; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.386085 # Actual altitude: 62.386085 # Commanded vehicle depth:752.728519 # Seafloor depth:-815.114604 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 249.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.95; MB_Bottom_Detect_Filter_Max_Range = 249.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 187.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 104.783858 meters # Minimum depth: 806.936283 meters looking forward 100.000000 meters along route # Maximum depth: 811.957053 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 756.936283 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.190427; longitude = -117.705683; captureRadius = 10; duration = 104; initialDepth = 756.936283; finalDepth = 752.728519; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.386085 # Actual altitude: 62.386085 # Commanded vehicle depth:756.936283 # Seafloor depth:-808.841623 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 249.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.95; MB_Bottom_Detect_Filter_Max_Range = 249.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 187.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 104.783534 meters # Minimum depth: 810.505000 meters looking forward 100.000000 meters along route # Maximum depth: 812.685238 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 760.505000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.190711; longitude = -117.704611; captureRadius = 10; duration = 104; initialDepth = 760.505000; finalDepth = 756.936283; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.180238 # Actual altitude: 52.180238 # Commanded vehicle depth:760.505 # Seafloor depth:-812.685238 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.72; 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 = 208.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 104.783211 meters # Minimum depth: 809.275764 meters looking forward 100.000000 meters along route # Maximum depth: 811.915374 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 759.275764 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.190994; longitude = -117.703538; captureRadius = 10; duration = 104; initialDepth = 759.275764; finalDepth = 760.505000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.6396100000001 # Actual altitude: 52.6396100000001 # Commanded vehicle depth:759.275764 # Seafloor depth:-811.915374 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.06; MB_Bottom_Detect_Filter_Max_Range = 210.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 104.782887 meters # Minimum depth: 808.986790 meters looking forward 100.000000 meters along route # Maximum depth: 810.926197 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 758.986790 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.191278; longitude = -117.702466; captureRadius = 10; duration = 104; initialDepth = 758.986790; finalDepth = 759.275764; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.6396100000001 # Actual altitude: 52.6396100000001 # Commanded vehicle depth:758.98679 # Seafloor depth:-809.837644 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.06; MB_Bottom_Detect_Filter_Max_Range = 210.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 104.782562 meters # Minimum depth: 809.774421 meters looking forward 100.000000 meters along route # Maximum depth: 810.418934 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 759.774421 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.191562; longitude = -117.701394; captureRadius = 10; duration = 104; initialDepth = 759.774421; finalDepth = 758.986790; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.8508539999999 # Actual altitude: 50.8508539999999 # Commanded vehicle depth:759.774421 # Seafloor depth:-809.981645 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.34; MB_Bottom_Detect_Filter_Max_Range = 203.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 104.782240 meters # Minimum depth: 809.193721 meters looking forward 100.000000 meters along route # Maximum depth: 810.440427 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 759.193721 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.191845; longitude = -117.700322; captureRadius = 10; duration = 104; initialDepth = 759.193721; finalDepth = 759.774421; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.726095 # Actual altitude: 50.726095 # Commanded vehicle depth:759.193721 # Seafloor depth:-809.919816 # 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 = 152.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 120.219079 meters # Minimum depth: 809.198155 meters looking forward 100.000000 meters along route # Maximum depth: 810.217369 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 759.198155 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.192129; longitude = -117.699249; captureRadius = 10; duration = 120; initialDepth = 759.198155; finalDepth = 759.193721; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.0192139999999 # Actual altitude: 51.0192139999999 # Commanded vehicle depth:759.198155 # Seafloor depth:-810.217369 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.41; MB_Bottom_Detect_Filter_Max_Range = 204.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 17 # Segment length 30.022424 meters # Minimum depth: 809.073700 meters looking forward 100.000000 meters along route # Maximum depth: 810.010895 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 759.073700 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.192454; longitude = -117.698019; captureRadius = 10; duration = 30; # abortOnTimeout = True; initialDepth = 759.073700; finalDepth = 759.198155; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.0192139999999 # Actual altitude: 51.0192139999999 # Commanded vehicle depth:759.0737 # Seafloor depth:-809.073700 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.41; MB_Bottom_Detect_Filter_Max_Range = 204.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 100.499984 meters # Minimum depth: 809.006065 meters looking forward 100.000000 meters along route # Maximum depth: 810.137291 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 759.006065 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.192198; longitude = -117.697915; captureRadius = 10; duration = 100; initialDepth = 759.006065; finalDepth = 759.073700; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.131226 # Actual altitude: 51.131226 # Commanded vehicle depth:759.006065 # Seafloor depth:-810.137291 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.45; MB_Bottom_Detect_Filter_Max_Range = 204.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 100.500068 meters # Minimum depth: 809.493000 meters looking forward 100.000000 meters along route # Maximum depth: 810.730054 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 759.493000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.191340; longitude = -117.697566; captureRadius = 10; duration = 100; initialDepth = 759.493000; finalDepth = 759.006065; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.131226 # Actual altitude: 51.131226 # Commanded vehicle depth:759.493 # Seafloor depth:-809.493000 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.45; MB_Bottom_Detect_Filter_Max_Range = 204.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 100.500154 meters # Minimum depth: 809.689245 meters looking forward 100.000000 meters along route # Maximum depth: 810.819130 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 759.689245 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.190482; longitude = -117.697218; captureRadius = 10; duration = 100; initialDepth = 759.689245; finalDepth = 759.493000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.501901 # Actual altitude: 50.501901 # Commanded vehicle depth:759.689245 # Seafloor depth:-810.191146 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.01; 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 = 202.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 100.500238 meters # Minimum depth: 809.946360 meters looking forward 100.000000 meters along route # Maximum depth: 811.032275 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 759.946360 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.189624; longitude = -117.696870; captureRadius = 10; duration = 100; initialDepth = 759.946360; finalDepth = 759.689245; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.085915 # Actual altitude: 51.085915 # Commanded vehicle depth:759.94636 # Seafloor depth:-811.032275 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.34; 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 = 204.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 100.500323 meters # Minimum depth: 811.854385 meters looking forward 100.000000 meters along route # Maximum depth: 812.806557 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 761.854385 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.188766; longitude = -117.696521; captureRadius = 10; duration = 100; initialDepth = 761.854385; finalDepth = 759.946360; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.085915 # Actual altitude: 51.085915 # Commanded vehicle depth:761.854385 # Seafloor depth:-812.357443 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.34; 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 = 204.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 100.500408 meters # Minimum depth: 810.857965 meters looking forward 100.000000 meters along route # Maximum depth: 811.632487 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 760.857965 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.187909; longitude = -117.696173; captureRadius = 10; duration = 100; initialDepth = 760.857965; finalDepth = 761.854385; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.503058 # Actual altitude: 50.503058 # Commanded vehicle depth:760.857965 # Seafloor depth:-810.857965 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.01; 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 = 202.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 100.500492 meters # Minimum depth: 810.098885 meters looking forward 100.000000 meters along route # Maximum depth: 812.622850 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 760.098885 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.187051; longitude = -117.695824; captureRadius = 10; duration = 100; initialDepth = 760.098885; finalDepth = 760.857965; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:760.098885 # Seafloor depth:-810.098885 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 100.500578 meters # Minimum depth: 812.596881 meters looking forward 100.000000 meters along route # Maximum depth: 813.571058 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 762.596881 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.186193; longitude = -117.695476; captureRadius = 10; duration = 100; initialDepth = 762.596881; finalDepth = 760.098885; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:762.596881 # Seafloor depth:-812.596881 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 100.500662 meters # Minimum depth: 813.941978 meters looking forward 100.000000 meters along route # Maximum depth: 816.004682 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 763.941978 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.185335; longitude = -117.695127; captureRadius = 10; duration = 100; initialDepth = 763.941978; finalDepth = 762.596881; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.4620540000001 # Actual altitude: 50.4620540000001 # Commanded vehicle depth:763.941978 # Seafloor depth:-814.404032 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.18; MB_Bottom_Detect_Filter_Max_Range = 201.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 100.500747 meters # Minimum depth: 814.379688 meters looking forward 100.000000 meters along route # Maximum depth: 816.436868 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 764.379688 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.184477; longitude = -117.694779; captureRadius = 10; duration = 100; initialDepth = 764.379688; finalDepth = 763.941978; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.05718 # Actual altitude: 52.05718 # Commanded vehicle depth:764.379688 # Seafloor depth:-816.436868 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.23; 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 = 208.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 100.500832 meters # Minimum depth: 813.824496 meters looking forward 100.000000 meters along route # Maximum depth: 817.726119 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 763.824496 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.183620; longitude = -117.694430; captureRadius = 10; duration = 100; initialDepth = 763.824496; finalDepth = 764.379688; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.2155300000001 # Actual altitude: 53.2155300000001 # Commanded vehicle depth:763.824496 # Seafloor depth:-817.040026 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.86; 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 = 212.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 100.500916 meters # Minimum depth: 815.587030 meters looking forward 100.000000 meters along route # Maximum depth: 820.593478 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 765.587030 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.182762; longitude = -117.694082; captureRadius = 10; duration = 100; initialDepth = 765.587030; finalDepth = 763.824496; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.2155300000001 # Actual altitude: 53.2155300000001 # Commanded vehicle depth:765.58703 # Seafloor depth:-815.587030 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.86; 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 = 212.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 108.831504 meters # Minimum depth: 819.493972 meters looking forward 100.000000 meters along route # Maximum depth: 820.300335 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 769.493972 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.181904; longitude = -117.693733; captureRadius = 10; duration = 108; initialDepth = 769.493972; finalDepth = 765.587030; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.806363 # Actual altitude: 50.806363 # Commanded vehicle depth:769.493972 # Seafloor depth:-820.300335 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.23; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.32; MB_Bottom_Detect_Filter_Max_Range = 203.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 16 # Segment length 10.884513 meters # Minimum depth: 819.493972 meters looking forward 100.000000 meters along route # Maximum depth: 820.303757 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 769.493972 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.180975; longitude = -117.693356; captureRadius = 10; duration = 10; # abortOnTimeout = True; initialDepth = 769.493972; finalDepth = 769.493972; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.809785 # Actual altitude: 50.809785 # Commanded vehicle depth:769.493972 # Seafloor depth:-820.303757 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.32; MB_Bottom_Detect_Filter_Max_Range = 203.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 104.691765 meters # Minimum depth: 818.102628 meters looking forward 100.000000 meters along route # Maximum depth: 819.883193 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 768.102628 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.181004; longitude = -117.693245; captureRadius = 10; duration = 104; initialDepth = 768.102628; finalDepth = 769.493972; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.780565 # Actual altitude: 51.780565 # Commanded vehicle depth:768.102628 # Seafloor depth:-819.883193 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.71; MB_Bottom_Detect_Filter_Max_Range = 207.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 104.691444 meters # Minimum depth: 817.915238 meters looking forward 100.000000 meters along route # Maximum depth: 818.402843 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 767.915238 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.181285; longitude = -117.692172; captureRadius = 10; duration = 104; initialDepth = 767.915238; finalDepth = 768.102628; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.780565 # Actual altitude: 51.780565 # Commanded vehicle depth:767.915238 # Seafloor depth:-817.972874 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.71; MB_Bottom_Detect_Filter_Max_Range = 207.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 104.691125 meters # Minimum depth: 816.432497 meters looking forward 100.000000 meters along route # Maximum depth: 817.153530 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 766.432497 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.181565; longitude = -117.691100; captureRadius = 10; duration = 104; initialDepth = 766.432497; finalDepth = 767.915238; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.721033 # Actual altitude: 50.721033 # Commanded vehicle depth:766.432497 # Seafloor depth:-817.153530 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.29; MB_Bottom_Detect_Filter_Max_Range = 202.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 104.690804 meters # Minimum depth: 809.084483 meters looking forward 100.000000 meters along route # Maximum depth: 816.357637 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 759.084483 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.181846; longitude = -117.690028; captureRadius = 10; duration = 104; initialDepth = 759.084483; finalDepth = 766.432497; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.273154 # Actual altitude: 57.273154 # Commanded vehicle depth:759.084483 # Seafloor depth:-816.357637 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 229.09; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.91; MB_Bottom_Detect_Filter_Max_Range = 229.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 171.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 104.690483 meters # Minimum depth: 808.241571 meters looking forward 100.000000 meters along route # Maximum depth: 815.242143 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 758.241571 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.182126; longitude = -117.688955; captureRadius = 10; duration = 104; initialDepth = 758.241571; finalDepth = 759.084483; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.273154 # Actual altitude: 57.273154 # Commanded vehicle depth:758.241571 # Seafloor depth:-808.241571 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 229.09; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.91; MB_Bottom_Detect_Filter_Max_Range = 229.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 171.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 104.690164 meters # Minimum depth: 809.039242 meters looking forward 100.000000 meters along route # Maximum depth: 814.530966 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 759.039242 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.182407; longitude = -117.687883; captureRadius = 10; duration = 104; initialDepth = 759.039242; finalDepth = 758.241571; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:759.039242 # Seafloor depth:-809.039242 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.957063 meters # Minimum depth: 811.937819 meters looking forward 100.000000 meters along route # Maximum depth: 815.135223 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 761.937819 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.182687; longitude = -117.686811; captureRadius = 10; duration = 107; initialDepth = 761.937819; finalDepth = 759.039242; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.45537 # Actual altitude: 51.45537 # Commanded vehicle depth:761.937819 # Seafloor depth:-813.393189 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.58; MB_Bottom_Detect_Filter_Max_Range = 205.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 101.422303 meters # Minimum depth: 808.573176 meters looking forward 100.000000 meters along route # Maximum depth: 814.894832 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 758.573176 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.182976; longitude = -117.685705; captureRadius = 10; duration = 101; initialDepth = 758.573176; finalDepth = 761.937819; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.2684860000001 # Actual altitude: 56.2684860000001 # Commanded vehicle depth:758.573176 # Seafloor depth:-814.841662 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 225.07; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.51; MB_Bottom_Detect_Filter_Max_Range = 225.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 168.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 116.118312 meters # Minimum depth: 804.228518 meters looking forward 100.000000 meters along route # Maximum depth: 814.023095 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 754.228518 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.183248; longitude = -117.684666; captureRadius = 10; duration = 116; initialDepth = 754.228518; finalDepth = 758.573176; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.794577 # Actual altitude: 59.794577 # Commanded vehicle depth:754.228518 # Seafloor depth:-814.023095 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 239.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.92; MB_Bottom_Detect_Filter_Max_Range = 239.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 179.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 15 # Segment length 32.266605 meters # Minimum depth: 804.228518 meters looking forward 100.000000 meters along route # Maximum depth: 812.940916 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 754.228518 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.183559; longitude = -117.683477; captureRadius = 10; duration = 32; # abortOnTimeout = True; initialDepth = 754.228518; finalDepth = 754.228518; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.794577 # Actual altitude: 59.794577 # Commanded vehicle depth:754.228518 # Seafloor depth:-812.551849 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 239.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.92; MB_Bottom_Detect_Filter_Max_Range = 239.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 179.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 100.645300 meters # Minimum depth: 812.009229 meters looking forward 100.000000 meters along route # Maximum depth: 812.530717 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 762.009229 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.183834; longitude = -117.683590; captureRadius = 10; duration = 100; initialDepth = 762.009229; finalDepth = 754.228518; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.3233309999999 # Actual altitude: 58.3233309999999 # Commanded vehicle depth:762.009229 # Seafloor depth:-812.282548 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 233.29; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.33; MB_Bottom_Detect_Filter_Max_Range = 233.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 174.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 100.645212 meters # Minimum depth: 811.952267 meters looking forward 100.000000 meters along route # Maximum depth: 812.809004 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 761.952267 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.184692; longitude = -117.683943; captureRadius = 10; duration = 100; initialDepth = 761.952267; finalDepth = 762.009229; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.279795 # Actual altitude: 50.279795 # Commanded vehicle depth:761.952267 # Seafloor depth:-812.232062 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.12; 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 = 201.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 100.645125 meters # Minimum depth: 811.539467 meters looking forward 100.000000 meters along route # Maximum depth: 812.276476 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 761.539467 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.185550; longitude = -117.684297; captureRadius = 10; duration = 100; initialDepth = 761.539467; finalDepth = 761.952267; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.7370090000001 # Actual altitude: 50.7370090000001 # Commanded vehicle depth:761.539467 # Seafloor depth:-812.276476 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.95; 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 = 202.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 100.645037 meters # Minimum depth: 810.198079 meters looking forward 100.000000 meters along route # Maximum depth: 811.901219 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 760.198079 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.186407; longitude = -117.684650; captureRadius = 10; duration = 100; initialDepth = 760.198079; finalDepth = 761.539467; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.632954 # Actual altitude: 51.632954 # Commanded vehicle depth:760.198079 # Seafloor depth:-811.831033 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.65; MB_Bottom_Detect_Filter_Max_Range = 206.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 100.644949 meters # Minimum depth: 808.905891 meters looking forward 100.000000 meters along route # Maximum depth: 809.630271 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 758.905891 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.187265; longitude = -117.685003; captureRadius = 10; duration = 100; initialDepth = 758.905891; finalDepth = 760.198079; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.632954 # Actual altitude: 51.632954 # Commanded vehicle depth:758.905891 # Seafloor depth:-809.265838 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.65; MB_Bottom_Detect_Filter_Max_Range = 206.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 100.644863 meters # Minimum depth: 810.134654 meters looking forward 100.000000 meters along route # Maximum depth: 811.014272 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 760.134654 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.188123; longitude = -117.685356; captureRadius = 10; duration = 100; initialDepth = 760.134654; finalDepth = 758.905891; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.359947 # Actual altitude: 50.359947 # Commanded vehicle depth:760.134654 # Seafloor depth:-810.134654 # 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 15 # Segment length 100.644774 meters # Minimum depth: 810.341449 meters looking forward 100.000000 meters along route # Maximum depth: 811.566159 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 760.341449 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.188981; longitude = -117.685710; captureRadius = 10; duration = 100; initialDepth = 760.341449; finalDepth = 760.134654; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.882158 # Actual altitude: 50.882158 # Commanded vehicle depth:760.341449 # Seafloor depth:-811.223607 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.35; MB_Bottom_Detect_Filter_Max_Range = 203.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 100.644687 meters # Minimum depth: 809.999324 meters looking forward 100.000000 meters along route # Maximum depth: 810.934664 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 759.999324 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.189839; longitude = -117.686063; captureRadius = 10; duration = 100; initialDepth = 759.999324; finalDepth = 760.341449; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.882158 # Actual altitude: 50.882158 # Commanded vehicle depth:759.999324 # Seafloor depth:-810.650442 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.35; MB_Bottom_Detect_Filter_Max_Range = 203.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 100.644600 meters # Minimum depth: 809.590953 meters looking forward 100.000000 meters along route # Maximum depth: 810.157003 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 759.590953 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.190697; longitude = -117.686416; captureRadius = 10; duration = 100; initialDepth = 759.590953; finalDepth = 759.999324; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.651118 # Actual altitude: 50.651118 # Commanded vehicle depth:759.590953 # Seafloor depth:-809.590953 # 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 15 # Segment length 100.644512 meters # Minimum depth: 809.948835 meters looking forward 100.000000 meters along route # Maximum depth: 811.197951 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 759.948835 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.191554; longitude = -117.686769; captureRadius = 10; duration = 100; initialDepth = 759.948835; finalDepth = 759.590953; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.455236 # Actual altitude: 50.455236 # Commanded vehicle depth:759.948835 # Seafloor depth:-810.404071 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.18; MB_Bottom_Detect_Filter_Max_Range = 201.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 100.644425 meters # Minimum depth: 809.073985 meters looking forward 100.000000 meters along route # Maximum depth: 810.643264 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 759.073985 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.192412; longitude = -117.687123; captureRadius = 10; duration = 100; initialDepth = 759.073985; finalDepth = 759.948835; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.5692790000001 # Actual altitude: 51.5692790000001 # Commanded vehicle depth:759.073985 # Seafloor depth:-810.643264 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.28; 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 = 206.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 100.644337 meters # Minimum depth: 808.929285 meters looking forward 100.000000 meters along route # Maximum depth: 811.046410 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 758.929285 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.193270; longitude = -117.687476; captureRadius = 10; duration = 100; initialDepth = 758.929285; finalDepth = 759.073985; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.5692790000001 # Actual altitude: 51.5692790000001 # Commanded vehicle depth:758.929285 # Seafloor depth:-808.929285 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.28; 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 = 206.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 113.942779 meters # Minimum depth: 809.143042 meters looking forward 100.000000 meters along route # Maximum depth: 810.448449 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 759.143042 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.194128; longitude = -117.687829; captureRadius = 10; duration = 113; initialDepth = 759.143042; finalDepth = 758.929285; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.333995 # Actual altitude: 50.333995 # Commanded vehicle depth:759.143042 # Seafloor depth:-809.477037 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.13; MB_Bottom_Detect_Filter_Max_Range = 201.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 14 # Segment length 12.526638 meters # Minimum depth: 809.143042 meters looking forward 100.000000 meters along route # Maximum depth: 810.448449 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 759.143042 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.195099; longitude = -117.688229; captureRadius = 10; duration = 12; # abortOnTimeout = True; initialDepth = 759.143042; finalDepth = 759.143042; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.4132169999999 # Actual altitude: 50.4132169999999 # Commanded vehicle depth:759.143042 # Seafloor depth:-809.556259 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.17; MB_Bottom_Detect_Filter_Max_Range = 201.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 102.228654 meters # Minimum depth: 808.393283 meters looking forward 100.000000 meters along route # Maximum depth: 809.684237 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 758.393283 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.195123; longitude = -117.688098; captureRadius = 10; duration = 102; initialDepth = 758.393283; finalDepth = 759.143042; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.942694 # Actual altitude: 50.942694 # Commanded vehicle depth:758.393283 # Seafloor depth:-809.335977 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.38; MB_Bottom_Detect_Filter_Max_Range = 203.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 102.228422 meters # Minimum depth: 807.770024 meters looking forward 100.000000 meters along route # Maximum depth: 810.461874 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 757.770024 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.195316; longitude = -117.687025; captureRadius = 10; duration = 102; initialDepth = 757.770024; finalDepth = 758.393283; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.111776 # Actual altitude: 51.111776 # Commanded vehicle depth:757.770024 # Seafloor depth:-808.881800 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.45; 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 = 204.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 102.228192 meters # Minimum depth: 806.775927 meters looking forward 100.000000 meters along route # Maximum depth: 809.242994 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 756.775927 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.195510; longitude = -117.685953; captureRadius = 10; duration = 102; initialDepth = 756.775927; finalDepth = 757.770024; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.039359 # Actual altitude: 52.039359 # Commanded vehicle depth:756.775927 # Seafloor depth:-808.815286 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.16; 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 = 208.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 102.227960 meters # Minimum depth: 806.445989 meters looking forward 100.000000 meters along route # Maximum depth: 809.554459 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 756.445989 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.195703; longitude = -117.684881; captureRadius = 10; duration = 102; initialDepth = 756.445989; finalDepth = 756.775927; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.039359 # Actual altitude: 52.039359 # Commanded vehicle depth:756.445989 # Seafloor depth:-808.283916 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.16; 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 = 208.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 102.227730 meters # Minimum depth: 798.786766 meters looking forward 100.000000 meters along route # Maximum depth: 810.358749 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 748.786766 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.195897; longitude = -117.683809; captureRadius = 10; duration = 102; initialDepth = 748.786766; finalDepth = 756.445989; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.2267770000001 # Actual altitude: 59.2267770000001 # Commanded vehicle depth:748.786766 # Seafloor depth:-808.013543 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 236.91; 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 = 236.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 177.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 102.227498 meters # Minimum depth: 792.836693 meters looking forward 100.000000 meters along route # Maximum depth: 808.789261 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 742.836693 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.196090; longitude = -117.682736; captureRadius = 10; duration = 102; initialDepth = 742.836693; finalDepth = 748.786766; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.2267770000001 # Actual altitude: 59.2267770000001 # Commanded vehicle depth:742.836693 # Seafloor depth:-792.836693 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 236.91; 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 = 236.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 177.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 102.227268 meters # Minimum depth: 796.931230 meters looking forward 100.000000 meters along route # Maximum depth: 809.418553 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 746.931230 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.196284; longitude = -117.681664; captureRadius = 10; duration = 102; initialDepth = 746.931230; finalDepth = 742.836693; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.2520469999999 # Actual altitude: 57.2520469999999 # Commanded vehicle depth:746.93123 # Seafloor depth:-804.183277 # 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 102.227037 meters # Minimum depth: 806.462750 meters looking forward 100.000000 meters along route # Maximum depth: 811.040280 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 756.462750 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.196478; longitude = -117.680592; captureRadius = 10; duration = 102; initialDepth = 756.462750; finalDepth = 746.931230; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.2520469999999 # Actual altitude: 57.2520469999999 # Commanded vehicle depth:756.46275 # Seafloor depth:-810.105890 # 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 102.226806 meters # Minimum depth: 807.666256 meters looking forward 100.000000 meters along route # Maximum depth: 809.151057 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 757.666256 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.196671; longitude = -117.679519; captureRadius = 10; duration = 102; initialDepth = 757.666256; finalDepth = 756.462750; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.64314 # Actual altitude: 53.64314 # Commanded vehicle depth:757.666256 # Seafloor depth:-808.709460 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.57; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.46; MB_Bottom_Detect_Filter_Max_Range = 214.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 102.226576 meters # Minimum depth: 807.079042 meters looking forward 100.000000 meters along route # Maximum depth: 812.399293 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 757.079042 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.196865; longitude = -117.678447; captureRadius = 10; duration = 102; initialDepth = 757.079042; finalDepth = 757.666256; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.233829 # Actual altitude: 52.233829 # Commanded vehicle depth:757.079042 # Seafloor depth:-809.312871 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.94; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.89; MB_Bottom_Detect_Filter_Max_Range = 208.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 102.226344 meters # Minimum depth: 805.863707 meters looking forward 100.000000 meters along route # Maximum depth: 809.478323 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 755.863707 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.197058; longitude = -117.677375; captureRadius = 10; duration = 102; initialDepth = 755.863707; finalDepth = 757.079042; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.6146160000001 # Actual altitude: 53.6146160000001 # Commanded vehicle depth:755.863707 # Seafloor depth:-809.478323 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.46; 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 = 214.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 113.698155 meters # Minimum depth: 804.778983 meters looking forward 100.000000 meters along route # Maximum depth: 806.527256 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 754.778983 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.197252; longitude = -117.676303; captureRadius = 10; duration = 113; initialDepth = 754.778983; finalDepth = 755.863707; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.6146160000001 # Actual altitude: 53.6146160000001 # Commanded vehicle depth:754.778983 # Seafloor depth:-805.318793 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.46; 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 = 214.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 13 # Segment length 11.870286 meters # Minimum depth: 804.778983 meters looking forward 100.000000 meters along route # Maximum depth: 805.943619 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 754.778983 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.197467; longitude = -117.675110; captureRadius = 10; duration = 11; # abortOnTimeout = True; initialDepth = 754.778983; finalDepth = 754.778983; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.53981 # Actual altitude: 50.53981 # Commanded vehicle depth:754.778983 # Seafloor depth:-805.293411 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.22; MB_Bottom_Detect_Filter_Max_Range = 202.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 105.774900 meters # Minimum depth: 804.910968 meters looking forward 100.000000 meters along route # Maximum depth: 806.378160 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 754.910968 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.197432; longitude = -117.675230; captureRadius = 10; duration = 105; initialDepth = 754.910968; finalDepth = 754.778983; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.575127 # Actual altitude: 50.575127 # Commanded vehicle depth:754.910968 # Seafloor depth:-805.486095 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.30; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.23; MB_Bottom_Detect_Filter_Max_Range = 202.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 105.775250 meters # Minimum depth: 805.035586 meters looking forward 100.000000 meters along route # Maximum depth: 809.863411 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 755.035586 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.197120; longitude = -117.676303; captureRadius = 10; duration = 105; initialDepth = 755.035586; finalDepth = 754.910968; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.575127 # Actual altitude: 50.575127 # Commanded vehicle depth:755.035586 # Seafloor depth:-805.035586 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.30; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.23; MB_Bottom_Detect_Filter_Max_Range = 202.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 108.594039 meters # Minimum depth: 807.709815 meters looking forward 100.000000 meters along route # Maximum depth: 812.047600 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 757.709815 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.196807; longitude = -117.677375; captureRadius = 10; duration = 108; initialDepth = 757.709815; finalDepth = 755.035586; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:757.709815 # Seafloor depth:-807.709815 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 102.957516 meters # Minimum depth: 807.325787 meters looking forward 100.000000 meters along route # Maximum depth: 811.605732 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 757.325787 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.196487; longitude = -117.678476; captureRadius = 10; duration = 102; initialDepth = 757.325787; finalDepth = 757.709815; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.279945 # Actual altitude: 54.279945 # Commanded vehicle depth:757.325787 # Seafloor depth:-811.605732 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.71; MB_Bottom_Detect_Filter_Max_Range = 217.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 105.776304 meters # Minimum depth: 808.622026 meters looking forward 100.000000 meters along route # Maximum depth: 811.180282 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 758.622026 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.196183; longitude = -117.679519; captureRadius = 10; duration = 105; initialDepth = 758.622026; finalDepth = 757.325787; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.279945 # Actual altitude: 54.279945 # Commanded vehicle depth:758.622026 # Seafloor depth:-809.193657 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.71; MB_Bottom_Detect_Filter_Max_Range = 217.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 105.776655 meters # Minimum depth: 808.978904 meters looking forward 100.000000 meters along route # Maximum depth: 812.609441 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 758.978904 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.195871; longitude = -117.680592; captureRadius = 10; duration = 105; initialDepth = 758.978904; finalDepth = 758.622026; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.571631 # Actual altitude: 50.571631 # Commanded vehicle depth:758.978904 # Seafloor depth:-809.432904 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.29; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.23; MB_Bottom_Detect_Filter_Max_Range = 202.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 105.777006 meters # Minimum depth: 803.925501 meters looking forward 100.000000 meters along route # Maximum depth: 809.803212 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 753.925501 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.195558; longitude = -117.681664; captureRadius = 10; duration = 105; initialDepth = 753.925501; finalDepth = 758.978904; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.454 # Actual altitude: 50.454 # Commanded vehicle depth:753.925501 # Seafloor depth:-803.925501 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.18; MB_Bottom_Detect_Filter_Max_Range = 201.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 105.777358 meters # Minimum depth: 808.422991 meters looking forward 100.000000 meters along route # Maximum depth: 810.325909 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 758.422991 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.195246; longitude = -117.682736; captureRadius = 10; duration = 105; initialDepth = 758.422991; finalDepth = 753.925501; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:758.422991 # Seafloor depth:-808.422991 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 105.777709 meters # Minimum depth: 808.997716 meters looking forward 100.000000 meters along route # Maximum depth: 810.611556 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 758.997716 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.194934; longitude = -117.683809; captureRadius = 10; duration = 105; initialDepth = 758.997716; finalDepth = 758.422991; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.2216040000001 # Actual altitude: 50.2216040000001 # Commanded vehicle depth:758.997716 # Seafloor depth:-809.219320 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.09; MB_Bottom_Detect_Filter_Max_Range = 200.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 105.778060 meters # Minimum depth: 808.891397 meters looking forward 100.000000 meters along route # Maximum depth: 810.559091 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 758.891397 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.194622; longitude = -117.684881; captureRadius = 10; duration = 105; initialDepth = 758.891397; finalDepth = 758.997716; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.350729 # Actual altitude: 51.350729 # Commanded vehicle depth:758.891397 # Seafloor depth:-810.242126 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.54; MB_Bottom_Detect_Filter_Max_Range = 205.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 105.778412 meters # Minimum depth: 809.293096 meters looking forward 100.000000 meters along route # Maximum depth: 810.145256 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 759.293096 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.194309; longitude = -117.685953; captureRadius = 10; duration = 105; initialDepth = 759.293096; finalDepth = 758.891397; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.350729 # Actual altitude: 51.350729 # Commanded vehicle depth:759.293096 # Seafloor depth:-809.293096 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.54; MB_Bottom_Detect_Filter_Max_Range = 205.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 105.778763 meters # Minimum depth: 809.590253 meters looking forward 100.000000 meters along route # Maximum depth: 810.991063 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 759.590253 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.193997; longitude = -117.687025; captureRadius = 10; duration = 105; initialDepth = 759.590253; finalDepth = 759.293096; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:759.590253 # Seafloor depth:-809.590253 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 105.779114 meters # Minimum depth: 809.515510 meters looking forward 100.000000 meters along route # Maximum depth: 810.593817 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 759.515510 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.193685; longitude = -117.688098; captureRadius = 10; duration = 105; initialDepth = 759.515510; finalDepth = 759.590253; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.7759960000001 # Actual altitude: 50.7759960000001 # Commanded vehicle depth:759.51551 # Seafloor depth:-810.291506 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.31; MB_Bottom_Detect_Filter_Max_Range = 203.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 107.356936 meters # Minimum depth: 808.055398 meters looking forward 100.000000 meters along route # Maximum depth: 809.758697 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 758.055398 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.193372; longitude = -117.689170; captureRadius = 10; duration = 107; initialDepth = 758.055398; finalDepth = 759.515510; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.433534 # Actual altitude: 51.433534 # Commanded vehicle depth:758.055398 # Seafloor depth:-809.488932 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.73; 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 = 205.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 104.202347 meters # Minimum depth: 808.868739 meters looking forward 100.000000 meters along route # Maximum depth: 810.052849 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 758.868739 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.193056; longitude = -117.690258; captureRadius = 10; duration = 104; initialDepth = 758.868739; finalDepth = 758.055398; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.433534 # Actual altitude: 51.433534 # Commanded vehicle depth:758.868739 # Seafloor depth:-809.706598 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.73; 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 = 205.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 105.780169 meters # Minimum depth: 808.650355 meters looking forward 100.000000 meters along route # Maximum depth: 809.361407 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 758.650355 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.192748; longitude = -117.691314; captureRadius = 10; duration = 105; initialDepth = 758.650355; finalDepth = 758.868739; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.837859 # Actual altitude: 50.837859 # Commanded vehicle depth:758.650355 # Seafloor depth:-809.345422 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.34; MB_Bottom_Detect_Filter_Max_Range = 203.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 105.780520 meters # Minimum depth: 808.308199 meters looking forward 100.000000 meters along route # Maximum depth: 809.771671 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 758.308199 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.192436; longitude = -117.692387; captureRadius = 10; duration = 105; initialDepth = 758.308199; finalDepth = 758.650355; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.4526500000001 # Actual altitude: 51.4526500000001 # Commanded vehicle depth:758.308199 # Seafloor depth:-809.760849 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.58; MB_Bottom_Detect_Filter_Max_Range = 205.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 105.780871 meters # Minimum depth: 809.039956 meters looking forward 100.000000 meters along route # Maximum depth: 811.108303 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 759.039956 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.192123; longitude = -117.693459; captureRadius = 10; duration = 105; initialDepth = 759.039956; finalDepth = 758.308199; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.4526500000001 # Actual altitude: 51.4526500000001 # Commanded vehicle depth:759.039956 # Seafloor depth:-809.039956 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.58; MB_Bottom_Detect_Filter_Max_Range = 205.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 105.781224 meters # Minimum depth: 808.801998 meters looking forward 100.000000 meters along route # Maximum depth: 810.079475 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 758.801998 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.191811; longitude = -117.694531; captureRadius = 10; duration = 105; initialDepth = 758.801998; finalDepth = 759.039956; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.277477 # Actual altitude: 51.277477 # Commanded vehicle depth:758.801998 # Seafloor depth:-810.079475 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.11; 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 = 205.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 105.781574 meters # Minimum depth: 809.147344 meters looking forward 100.000000 meters along route # Maximum depth: 811.104073 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 759.147344 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.191499; longitude = -117.695604; captureRadius = 10; duration = 105; initialDepth = 759.147344; finalDepth = 758.801998; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.277477 # Actual altitude: 51.277477 # Commanded vehicle depth:759.147344 # Seafloor depth:-809.147344 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.11; 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 = 205.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 105.781926 meters # Minimum depth: 810.407953 meters looking forward 100.000000 meters along route # Maximum depth: 810.833379 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 760.407953 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.191187; longitude = -117.696676; captureRadius = 10; duration = 105; initialDepth = 760.407953; finalDepth = 759.147344; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:760.407953 # Seafloor depth:-810.407953 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 105.782278 meters # Minimum depth: 809.882791 meters looking forward 100.000000 meters along route # Maximum depth: 811.694392 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 759.882791 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.190874; longitude = -117.697748; captureRadius = 10; duration = 105; initialDepth = 759.882791; finalDepth = 760.407953; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.877177 # Actual altitude: 50.877177 # Commanded vehicle depth:759.882791 # Seafloor depth:-810.759968 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.35; MB_Bottom_Detect_Filter_Max_Range = 203.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 105.782630 meters # Minimum depth: 809.715777 meters looking forward 100.000000 meters along route # Maximum depth: 811.318494 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 759.715777 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.190562; longitude = -117.698820; captureRadius = 10; duration = 105; initialDepth = 759.715777; finalDepth = 759.882791; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.877177 # Actual altitude: 50.877177 # Commanded vehicle depth:759.715777 # Seafloor depth:-810.438692 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.35; MB_Bottom_Detect_Filter_Max_Range = 203.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 105.782981 meters # Minimum depth: 811.518341 meters looking forward 100.000000 meters along route # Maximum depth: 811.875582 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 761.518341 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.190250; longitude = -117.699893; captureRadius = 10; duration = 105; initialDepth = 761.518341; finalDepth = 759.715777; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.7229149999999 # Actual altitude: 50.7229149999999 # Commanded vehicle depth:761.518341 # Seafloor depth:-811.742247 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.89; 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 = 202.89; 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 13 # Segment length 106.119743 meters # Minimum depth: 810.723051 meters looking forward 100.000000 meters along route # Maximum depth: 813.004183 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 760.723051 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.189938; longitude = -117.700965; captureRadius = 10; duration = 106; initialDepth = 760.723051; finalDepth = 761.518341; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.2239060000001 # Actual altitude: 50.2239060000001 # Commanded vehicle depth:760.723051 # Seafloor depth:-810.867751 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.90; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.09; MB_Bottom_Detect_Filter_Max_Range = 200.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 105.447274 meters # Minimum depth: 809.686356 meters looking forward 100.000000 meters along route # Maximum depth: 813.152964 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 759.686356 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.189624; longitude = -117.702041; captureRadius = 10; duration = 105; initialDepth = 759.686356; finalDepth = 760.723051; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.3257619999999 # Actual altitude: 53.3257619999999 # Commanded vehicle depth:759.686356 # Seafloor depth:-813.012118 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.30; 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 = 213.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 105.784036 meters # Minimum depth: 812.155012 meters looking forward 100.000000 meters along route # Maximum depth: 814.953801 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 762.155012 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.189313; longitude = -117.703109; captureRadius = 10; duration = 105; initialDepth = 762.155012; finalDepth = 759.686356; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.3257619999999 # Actual altitude: 53.3257619999999 # Commanded vehicle depth:762.155012 # Seafloor depth:-813.877414 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.30; 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 = 213.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 105.784388 meters # Minimum depth: 814.737664 meters looking forward 100.000000 meters along route # Maximum depth: 815.845117 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 764.737664 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.189001; longitude = -117.704182; captureRadius = 10; duration = 105; initialDepth = 764.737664; finalDepth = 762.155012; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.722402 # Actual altitude: 51.722402 # Commanded vehicle depth:764.737664 # Seafloor depth:-815.845117 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.89; 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 = 206.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 105.784739 meters # Minimum depth: 815.804746 meters looking forward 100.000000 meters along route # Maximum depth: 817.007971 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 765.804746 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.188688; longitude = -117.705254; captureRadius = 10; duration = 105; initialDepth = 765.804746; finalDepth = 764.737664; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.107453 # Actual altitude: 51.107453 # Commanded vehicle depth:765.804746 # Seafloor depth:-815.804746 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.43; 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 = 204.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 105.785092 meters # Minimum depth: 816.218831 meters looking forward 100.000000 meters along route # Maximum depth: 818.075930 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 766.218831 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.188376; longitude = -117.706326; captureRadius = 10; duration = 105; initialDepth = 766.218831; finalDepth = 765.804746; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:766.218831 # Seafloor depth:-816.218831 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 105.785443 meters # Minimum depth: 818.320415 meters looking forward 100.000000 meters along route # Maximum depth: 819.011833 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 768.320415 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.188064; longitude = -117.707399; captureRadius = 10; duration = 105; initialDepth = 768.320415; finalDepth = 766.218831; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.478087 # Actual altitude: 50.478087 # Commanded vehicle depth:768.320415 # Seafloor depth:-818.798502 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.91; 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 = 201.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 105.785795 meters # Minimum depth: 818.600277 meters looking forward 100.000000 meters along route # Maximum depth: 819.346286 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 768.600277 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.187752; longitude = -117.708471; captureRadius = 10; duration = 105; initialDepth = 768.600277; finalDepth = 768.320415; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.746009 # Actual altitude: 50.746009 # Commanded vehicle depth:768.600277 # Seafloor depth:-819.346286 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.98; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.30; MB_Bottom_Detect_Filter_Max_Range = 202.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 105.786147 meters # Minimum depth: 819.323834 meters looking forward 100.000000 meters along route # Maximum depth: 819.994464 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 769.323834 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.187439; longitude = -117.709543; captureRadius = 10; duration = 105; initialDepth = 769.323834; finalDepth = 768.600277; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.746009 # Actual altitude: 50.746009 # Commanded vehicle depth:769.323834 # Seafloor depth:-819.323834 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.98; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.30; MB_Bottom_Detect_Filter_Max_Range = 202.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 105.786498 meters # Minimum depth: 819.715394 meters looking forward 100.000000 meters along route # Maximum depth: 819.991903 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 769.715394 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.187127; longitude = -117.710615; captureRadius = 10; duration = 105; initialDepth = 769.715394; finalDepth = 769.323834; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.276509 # Actual altitude: 50.276509 # Commanded vehicle depth:769.715394 # Seafloor depth:-819.991903 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.11; 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 = 201.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 116.156961 meters # Minimum depth: 819.254997 meters looking forward 100.000000 meters along route # Maximum depth: 819.688664 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 769.254997 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.186815; longitude = -117.711688; captureRadius = 10; duration = 116; initialDepth = 769.254997; finalDepth = 769.715394; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.433667 # Actual altitude: 50.433667 # Commanded vehicle depth:769.254997 # Seafloor depth:-819.688664 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.73; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.17; MB_Bottom_Detect_Filter_Max_Range = 201.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 12 # Segment length 32.737527 meters # Minimum depth: 819.212860 meters looking forward 100.000000 meters along route # Maximum depth: 819.430634 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 769.212860 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.186472; longitude = -117.712865; captureRadius = 10; duration = 32; # abortOnTimeout = True; initialDepth = 769.212860; finalDepth = 769.254997; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.433667 # Actual altitude: 50.433667 # Commanded vehicle depth:769.21286 # Seafloor depth:-819.212860 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.73; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.17; MB_Bottom_Detect_Filter_Max_Range = 201.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 117.229382 meters # Minimum depth: 819.245486 meters looking forward 100.000000 meters along route # Maximum depth: 819.353640 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 769.245486 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.186193; longitude = -117.712750; captureRadius = 10; duration = 117; initialDepth = 769.245486; finalDepth = 769.212860; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:769.245486 # Seafloor depth:-819.245486 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 11 # Segment length 21.850468 meters # Minimum depth: 819.297506 meters looking forward 100.000000 meters along route # Maximum depth: 819.376125 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 769.297506 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.185194; longitude = -117.712338; captureRadius = 10; duration = 21; # abortOnTimeout = True; initialDepth = 769.297506; finalDepth = 769.245486; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.04014 # Actual altitude: 50.04014 # Commanded vehicle depth:769.297506 # Seafloor depth:-819.337646 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.02; MB_Bottom_Detect_Filter_Max_Range = 200.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 105.788173 meters # Minimum depth: 819.452087 meters looking forward 100.000000 meters along route # Maximum depth: 819.771029 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 769.452087 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.185258; longitude = -117.712117; captureRadius = 10; duration = 105; initialDepth = 769.452087; finalDepth = 769.297506; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.04014 # Actual altitude: 50.04014 # Commanded vehicle depth:769.452087 # Seafloor depth:-819.452087 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.02; MB_Bottom_Detect_Filter_Max_Range = 200.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 105.787822 meters # Minimum depth: 819.791570 meters looking forward 100.000000 meters along route # Maximum depth: 819.979962 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 769.791570 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.185571; longitude = -117.711044; captureRadius = 10; duration = 105; initialDepth = 769.791570; finalDepth = 769.452087; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:769.79157 # Seafloor depth:-819.791570 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 105.787469 meters # Minimum depth: 820.011260 meters looking forward 100.000000 meters along route # Maximum depth: 820.145895 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 770.011260 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.185883; longitude = -117.709972; captureRadius = 10; duration = 105; initialDepth = 770.011260; finalDepth = 769.791570; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:770.01126 # Seafloor depth:-820.011260 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 105.787118 meters # Minimum depth: 820.146914 meters looking forward 100.000000 meters along route # Maximum depth: 820.689221 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 770.146914 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.186195; longitude = -117.708900; captureRadius = 10; duration = 105; initialDepth = 770.146914; finalDepth = 770.011260; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:770.146914 # Seafloor depth:-820.146914 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 111.391668 meters # Minimum depth: 820.877519 meters looking forward 100.000000 meters along route # Maximum depth: 821.689357 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 770.877519 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.186508; longitude = -117.707827; captureRadius = 10; duration = 111; initialDepth = 770.877519; finalDepth = 770.146914; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.23352 # Actual altitude: 50.23352 # Commanded vehicle depth:770.877519 # Seafloor depth:-821.111039 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.93; 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 = 200.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 100.181512 meters # Minimum depth: 819.766652 meters looking forward 100.000000 meters along route # Maximum depth: 820.757771 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 769.766652 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.186836; longitude = -117.706698; captureRadius = 10; duration = 100; initialDepth = 769.766652; finalDepth = 770.877519; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.991119 # Actual altitude: 50.991119 # Commanded vehicle depth:769.766652 # Seafloor depth:-820.757771 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.40; MB_Bottom_Detect_Filter_Max_Range = 203.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 105.786063 meters # Minimum depth: 818.492882 meters looking forward 100.000000 meters along route # Maximum depth: 819.583222 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 768.492882 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.187132; longitude = -117.705683; captureRadius = 10; duration = 105; initialDepth = 768.492882; finalDepth = 769.766652; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.09034 # Actual altitude: 51.09034 # Commanded vehicle depth:768.492882 # Seafloor depth:-819.583222 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.36; 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 = 204.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 105.785710 meters # Minimum depth: 806.649328 meters looking forward 100.000000 meters along route # Maximum depth: 819.975198 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 756.649328 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.187444; longitude = -117.704611; captureRadius = 10; duration = 105; initialDepth = 756.649328; finalDepth = 768.492882; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.345765 # Actual altitude: 62.345765 # Commanded vehicle depth:756.649328 # Seafloor depth:-818.995093 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 249.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.94; MB_Bottom_Detect_Filter_Max_Range = 249.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 187.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 105.785359 meters # Minimum depth: 805.278973 meters looking forward 100.000000 meters along route # Maximum depth: 818.449243 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 755.278973 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.187757; longitude = -117.703538; captureRadius = 10; duration = 105; initialDepth = 755.278973; finalDepth = 756.649328; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.1702700000001 # Actual altitude: 63.1702700000001 # Commanded vehicle depth:755.278973 # Seafloor depth:-818.449243 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 252.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.27; MB_Bottom_Detect_Filter_Max_Range = 252.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 189.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 105.785007 meters # Minimum depth: 811.608798 meters looking forward 100.000000 meters along route # Maximum depth: 816.077694 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 761.608798 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.188069; longitude = -117.702466; captureRadius = 10; duration = 105; initialDepth = 761.608798; finalDepth = 755.278973; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.1702700000001 # Actual altitude: 63.1702700000001 # Commanded vehicle depth:761.608798 # Seafloor depth:-811.608798 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 252.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.27; MB_Bottom_Detect_Filter_Max_Range = 252.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 189.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 105.784656 meters # Minimum depth: 808.776318 meters looking forward 100.000000 meters along route # Maximum depth: 814.646481 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 758.776318 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.188381; longitude = -117.701394; captureRadius = 10; duration = 105; initialDepth = 758.776318; finalDepth = 761.608798; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.870163 # Actual altitude: 55.870163 # Commanded vehicle depth:758.776318 # Seafloor depth:-814.646481 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.35; MB_Bottom_Detect_Filter_Max_Range = 223.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 167.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 105.784304 meters # Minimum depth: 811.029659 meters looking forward 100.000000 meters along route # Maximum depth: 815.826858 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 761.029659 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.188693; longitude = -117.700322; captureRadius = 10; duration = 105; initialDepth = 761.029659; finalDepth = 758.776318; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.870163 # Actual altitude: 55.870163 # Commanded vehicle depth:761.029659 # Seafloor depth:-815.826858 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.35; MB_Bottom_Detect_Filter_Max_Range = 223.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 167.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 105.783952 meters # Minimum depth: 810.461167 meters looking forward 100.000000 meters along route # Maximum depth: 812.355060 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 760.461167 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.189006; longitude = -117.699249; captureRadius = 10; duration = 105; initialDepth = 760.461167; finalDepth = 761.029659; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.797199 # Actual altitude: 54.797199 # Commanded vehicle depth:760.461167 # Seafloor depth:-810.461167 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.19; 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 = 219.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 105.783601 meters # Minimum depth: 809.434294 meters looking forward 100.000000 meters along route # Maximum depth: 811.767099 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 759.434294 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.189318; longitude = -117.698177; captureRadius = 10; duration = 105; initialDepth = 759.434294; finalDepth = 760.461167; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.004651 # Actual altitude: 51.004651 # Commanded vehicle depth:759.434294 # Seafloor depth:-810.438945 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.40; MB_Bottom_Detect_Filter_Max_Range = 204.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 105.783249 meters # Minimum depth: 810.553031 meters looking forward 100.000000 meters along route # Maximum depth: 811.902028 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 760.553031 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.189630; longitude = -117.697105; captureRadius = 10; duration = 105; initialDepth = 760.553031; finalDepth = 759.434294; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.004651 # Actual altitude: 51.004651 # Commanded vehicle depth:760.553031 # Seafloor depth:-810.553031 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.40; MB_Bottom_Detect_Filter_Max_Range = 204.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 110.146488 meters # Minimum depth: 809.984151 meters looking forward 100.000000 meters along route # Maximum depth: 810.677623 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 759.984151 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.189943; longitude = -117.696032; captureRadius = 10; duration = 110; initialDepth = 759.984151; finalDepth = 760.553031; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.693472 # Actual altitude: 50.693472 # Commanded vehicle depth:759.984151 # Seafloor depth:-810.677623 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.28; MB_Bottom_Detect_Filter_Max_Range = 202.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 101.418956 meters # Minimum depth: 809.969394 meters looking forward 100.000000 meters along route # Maximum depth: 810.550558 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 759.969394 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.190268; longitude = -117.694916; captureRadius = 10; duration = 101; initialDepth = 759.969394; finalDepth = 759.984151; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.693472 # Actual altitude: 50.693472 # Commanded vehicle depth:759.969394 # Seafloor depth:-810.254370 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.28; MB_Bottom_Detect_Filter_Max_Range = 202.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 105.782195 meters # Minimum depth: 809.579744 meters looking forward 100.000000 meters along route # Maximum depth: 811.279791 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 759.579744 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.190567; longitude = -117.693888; captureRadius = 10; duration = 105; initialDepth = 759.579744; finalDepth = 759.969394; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.284976 # Actual altitude: 50.284976 # Commanded vehicle depth:759.579744 # Seafloor depth:-809.579744 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.14; 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 = 201.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 105.781843 meters # Minimum depth: 809.578159 meters looking forward 100.000000 meters along route # Maximum depth: 811.318102 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 759.578159 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.190879; longitude = -117.692816; captureRadius = 10; duration = 105; initialDepth = 759.578159; finalDepth = 759.579744; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:759.578159 # Seafloor depth:-809.578159 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 105.781492 meters # Minimum depth: 807.777464 meters looking forward 100.000000 meters along route # Maximum depth: 810.707441 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 757.777464 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.191192; longitude = -117.691743; captureRadius = 10; duration = 105; initialDepth = 757.777464; finalDepth = 759.578159; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.713926 # Actual altitude: 51.713926 # Commanded vehicle depth:757.777464 # Seafloor depth:-809.491390 # 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 11 # Segment length 105.781140 meters # Minimum depth: 809.577021 meters looking forward 100.000000 meters along route # Maximum depth: 810.921119 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 759.577021 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.191504; longitude = -117.690671; captureRadius = 10; duration = 105; initialDepth = 759.577021; finalDepth = 757.777464; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.713926 # Actual altitude: 51.713926 # Commanded vehicle depth:759.577021 # Seafloor depth:-809.756848 # 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 11 # Segment length 105.780789 meters # Minimum depth: 809.488710 meters looking forward 100.000000 meters along route # Maximum depth: 810.831012 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 759.488710 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.191816; longitude = -117.689599; captureRadius = 10; duration = 105; initialDepth = 759.488710; finalDepth = 759.577021; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.179827 # Actual altitude: 50.179827 # Commanded vehicle depth:759.48871 # Seafloor depth:-809.488710 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.72; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.07; MB_Bottom_Detect_Filter_Max_Range = 200.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 105.780438 meters # Minimum depth: 809.907851 meters looking forward 100.000000 meters along route # Maximum depth: 810.548283 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 759.907851 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.192128; longitude = -117.688527; captureRadius = 10; duration = 105; initialDepth = 759.907851; finalDepth = 759.488710; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:759.907851 # Seafloor depth:-809.907851 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 105.780086 meters # Minimum depth: 809.551962 meters looking forward 100.000000 meters along route # Maximum depth: 810.508813 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 759.551962 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.192441; longitude = -117.687454; captureRadius = 10; duration = 105; initialDepth = 759.551962; finalDepth = 759.907851; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.180873 # Actual altitude: 50.180873 # Commanded vehicle depth:759.551962 # Seafloor depth:-809.732835 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.72; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.07; MB_Bottom_Detect_Filter_Max_Range = 200.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 105.779735 meters # Minimum depth: 809.097182 meters looking forward 100.000000 meters along route # Maximum depth: 809.991443 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 759.097182 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.192753; longitude = -117.686382; captureRadius = 10; duration = 105; initialDepth = 759.097182; finalDepth = 759.551962; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.748063 # Actual altitude: 50.748063 # Commanded vehicle depth:759.097182 # Seafloor depth:-809.845245 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.30; MB_Bottom_Detect_Filter_Max_Range = 202.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 105.779383 meters # Minimum depth: 808.740258 meters looking forward 100.000000 meters along route # Maximum depth: 809.701174 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 758.740258 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.193065; longitude = -117.685310; captureRadius = 10; duration = 105; initialDepth = 758.740258; finalDepth = 759.097182; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.748063 # Actual altitude: 50.748063 # Commanded vehicle depth:758.740258 # Seafloor depth:-809.256124 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.30; MB_Bottom_Detect_Filter_Max_Range = 202.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 108.901402 meters # Minimum depth: 808.526041 meters looking forward 100.000000 meters along route # Maximum depth: 810.091085 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 758.526041 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.193377; longitude = -117.684237; captureRadius = 10; duration = 108; initialDepth = 758.526041; finalDepth = 758.740258; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.515866 # Actual altitude: 50.515866 # Commanded vehicle depth:758.526041 # Seafloor depth:-808.944608 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.06; 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 = 202.06; 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 11 # Segment length 102.656312 meters # Minimum depth: 809.444383 meters looking forward 100.000000 meters along route # Maximum depth: 810.553829 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 759.444383 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.193699; longitude = -117.683134; captureRadius = 10; duration = 102; initialDepth = 759.444383; finalDepth = 758.526041; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.700635 # Actual altitude: 50.700635 # Commanded vehicle depth:759.444383 # Seafloor depth:-810.145018 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.80; 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 = 202.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 105.778330 meters # Minimum depth: 807.801557 meters looking forward 100.000000 meters along route # Maximum depth: 809.653547 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 757.801557 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.194002; longitude = -117.682093; captureRadius = 10; duration = 105; initialDepth = 757.801557; finalDepth = 759.444383; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.398183 # Actual altitude: 51.398183 # Commanded vehicle depth:757.801557 # Seafloor depth:-809.199740 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.56; MB_Bottom_Detect_Filter_Max_Range = 205.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 105.777978 meters # Minimum depth: 808.059007 meters looking forward 100.000000 meters along route # Maximum depth: 810.246755 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 758.059007 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.194314; longitude = -117.681021; captureRadius = 10; duration = 105; initialDepth = 758.059007; finalDepth = 757.801557; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.1877480000001 # Actual altitude: 52.1877480000001 # Commanded vehicle depth:758.059007 # Seafloor depth:-810.246755 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.75; 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 = 208.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 105.777628 meters # Minimum depth: 808.349674 meters looking forward 100.000000 meters along route # Maximum depth: 812.540139 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 758.349674 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.194627; longitude = -117.679948; captureRadius = 10; duration = 105; initialDepth = 758.349674; finalDepth = 758.059007; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.1877480000001 # Actual altitude: 52.1877480000001 # Commanded vehicle depth:758.349674 # Seafloor depth:-810.410856 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.75; 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 = 208.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 105.777276 meters # Minimum depth: 806.594134 meters looking forward 100.000000 meters along route # Maximum depth: 810.218279 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 756.594134 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.194939; longitude = -117.678876; captureRadius = 10; duration = 105; initialDepth = 756.594134; finalDepth = 758.349674; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.0611819999999 # Actual altitude: 52.0611819999999 # Commanded vehicle depth:756.594134 # Seafloor depth:-808.048441 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.82; MB_Bottom_Detect_Filter_Max_Range = 208.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 105.776925 meters # Minimum depth: 807.702420 meters looking forward 100.000000 meters along route # Maximum depth: 810.783495 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 757.702420 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.195251; longitude = -117.677804; captureRadius = 10; duration = 105; initialDepth = 757.702420; finalDepth = 756.594134; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.454307 # Actual altitude: 51.454307 # Commanded vehicle depth:757.70242 # Seafloor depth:-808.861532 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.58; MB_Bottom_Detect_Filter_Max_Range = 205.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 105.776574 meters # Minimum depth: 807.249660 meters looking forward 100.000000 meters along route # Maximum depth: 809.304402 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 757.249660 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.195563; longitude = -117.676732; captureRadius = 10; duration = 105; initialDepth = 757.249660; finalDepth = 757.702420; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.1591120000001 # Actual altitude: 51.1591120000001 # Commanded vehicle depth:757.24966 # Seafloor depth:-807.523567 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.64; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.46; MB_Bottom_Detect_Filter_Max_Range = 204.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 106.167772 meters # Minimum depth: 803.031493 meters looking forward 100.000000 meters along route # Maximum depth: 808.526192 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 753.031493 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.195876; longitude = -117.675659; captureRadius = 10; duration = 106; initialDepth = 753.031493; finalDepth = 757.249660; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.4946990000001 # Actual altitude: 55.4946990000001 # Commanded vehicle depth:753.031493 # Seafloor depth:-808.526192 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.98; 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 = 221.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 166.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 10 # Segment length 40.533750 meters # Minimum depth: 803.031493 meters looking forward 100.000000 meters along route # Maximum depth: 803.952701 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 753.031493 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.196189; longitude = -117.674583; captureRadius = 10; duration = 40; # abortOnTimeout = True; initialDepth = 753.031493; finalDepth = 753.031493; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.4946990000001 # Actual altitude: 55.4946990000001 # Commanded vehicle depth:753.031493 # Seafloor depth:-803.326523 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.98; 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 = 221.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 166.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 109.505006 meters # Minimum depth: 804.827557 meters looking forward 100.000000 meters along route # Maximum depth: 811.837383 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 754.827557 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.195843; longitude = -117.674441; captureRadius = 10; duration = 109; initialDepth = 754.827557; finalDepth = 753.031493; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.29503 # Actual altitude: 50.29503 # Commanded vehicle depth:754.827557 # Seafloor depth:-804.827557 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.18; 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 = 201.18; 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 to get to end of line 9 # Segment length 9.969382 meters # Minimum depth: 805.639664 meters looking forward 100.000000 meters along route # Maximum depth: 811.837383 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 755.639664 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.194910; longitude = -117.674057; captureRadius = 10; duration = 9; # abortOnTimeout = True; initialDepth = 755.639664; finalDepth = 754.827557; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:755.639664 # Seafloor depth:-805.639664 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.690116 meters # Minimum depth: 804.777633 meters looking forward 100.000000 meters along route # Maximum depth: 812.061230 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 754.777633 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.194881; longitude = -117.674158; captureRadius = 10; duration = 109; initialDepth = 754.777633; finalDepth = 755.639664; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:754.777633 # Seafloor depth:-804.777633 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 101.866071 meters # Minimum depth: 805.316231 meters looking forward 100.000000 meters along route # Maximum depth: 809.653388 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 755.316231 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.194557; longitude = -117.675270; captureRadius = 10; duration = 101; initialDepth = 755.316231; finalDepth = 754.777633; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:755.316231 # Seafloor depth:-805.316231 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 105.778619 meters # Minimum depth: 806.328287 meters looking forward 100.000000 meters along route # Maximum depth: 807.738967 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 756.328287 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.194256; longitude = -117.676303; captureRadius = 10; duration = 105; initialDepth = 756.328287; finalDepth = 755.316231; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.167599 # Actual altitude: 51.167599 # Commanded vehicle depth:756.328287 # Seafloor depth:-807.495886 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.47; MB_Bottom_Detect_Filter_Max_Range = 204.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 105.778971 meters # Minimum depth: 807.292242 meters looking forward 100.000000 meters along route # Maximum depth: 811.549326 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 757.292242 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.193944; longitude = -117.677375; captureRadius = 10; duration = 105; initialDepth = 757.292242; finalDepth = 756.328287; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.057774 # Actual altitude: 52.057774 # Commanded vehicle depth:757.292242 # Seafloor depth:-809.350016 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.23; 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 = 208.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 105.779322 meters # Minimum depth: 807.706201 meters looking forward 100.000000 meters along route # Maximum depth: 811.932030 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 757.706201 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.193631; longitude = -117.678447; captureRadius = 10; duration = 105; initialDepth = 757.706201; finalDepth = 757.292242; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.057774 # Actual altitude: 52.057774 # Commanded vehicle depth:757.706201 # Seafloor depth:-808.556850 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.23; 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 = 208.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 105.779673 meters # Minimum depth: 807.726417 meters looking forward 100.000000 meters along route # Maximum depth: 810.945770 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 757.726417 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.193319; longitude = -117.679519; captureRadius = 10; duration = 105; initialDepth = 757.726417; finalDepth = 757.706201; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.059935 # Actual altitude: 52.059935 # Commanded vehicle depth:757.726417 # Seafloor depth:-809.786352 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.82; MB_Bottom_Detect_Filter_Max_Range = 208.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 105.780025 meters # Minimum depth: 807.841660 meters looking forward 100.000000 meters along route # Maximum depth: 810.621332 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 757.841660 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.193007; longitude = -117.680592; captureRadius = 10; duration = 105; initialDepth = 757.841660; finalDepth = 757.726417; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.059935 # Actual altitude: 52.059935 # Commanded vehicle depth:757.84166 # Seafloor depth:-807.841660 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.82; MB_Bottom_Detect_Filter_Max_Range = 208.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 105.780375 meters # Minimum depth: 809.620729 meters looking forward 100.000000 meters along route # Maximum depth: 810.353713 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 759.620729 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.192695; longitude = -117.681664; captureRadius = 10; duration = 105; initialDepth = 759.620729; finalDepth = 757.841660; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.617659 # Actual altitude: 50.617659 # Commanded vehicle depth:759.620729 # Seafloor depth:-810.238388 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.47; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.25; MB_Bottom_Detect_Filter_Max_Range = 202.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 105.780727 meters # Minimum depth: 810.132010 meters looking forward 100.000000 meters along route # Maximum depth: 810.735187 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 760.132010 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.192382; longitude = -117.682736; captureRadius = 10; duration = 105; initialDepth = 760.132010; finalDepth = 759.620729; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.617659 # Actual altitude: 50.617659 # Commanded vehicle depth:760.13201 # Seafloor depth:-810.578202 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.47; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.25; MB_Bottom_Detect_Filter_Max_Range = 202.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 105.781078 meters # Minimum depth: 809.055415 meters looking forward 100.000000 meters along route # Maximum depth: 810.518669 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 759.055415 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.192070; longitude = -117.683809; captureRadius = 10; duration = 105; initialDepth = 759.055415; finalDepth = 760.132010; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.463254 # Actual altitude: 51.463254 # Commanded vehicle depth:759.055415 # Seafloor depth:-810.518669 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.59; MB_Bottom_Detect_Filter_Max_Range = 205.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 105.781430 meters # Minimum depth: 808.737944 meters looking forward 100.000000 meters along route # Maximum depth: 809.252717 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 758.737944 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.191758; longitude = -117.684881; captureRadius = 10; duration = 105; initialDepth = 758.737944; finalDepth = 759.055415; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.463254 # Actual altitude: 51.463254 # Commanded vehicle depth:758.737944 # Seafloor depth:-809.032324 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.59; MB_Bottom_Detect_Filter_Max_Range = 205.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 108.422236 meters # Minimum depth: 809.299253 meters looking forward 100.000000 meters along route # Maximum depth: 811.486897 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 759.299253 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.191446; longitude = -117.685953; captureRadius = 10; duration = 108; initialDepth = 759.299253; finalDepth = 758.737944; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.29438 # Actual altitude: 50.29438 # Commanded vehicle depth:759.299253 # Seafloor depth:-809.580488 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.18; 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 = 201.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 103.141676 meters # Minimum depth: 809.336127 meters looking forward 100.000000 meters along route # Maximum depth: 810.223918 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 759.336127 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.191125; longitude = -117.687052; captureRadius = 10; duration = 103; initialDepth = 759.336127; finalDepth = 759.299253; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.2812349999999 # Actual altitude: 50.2812349999999 # Commanded vehicle depth:759.336127 # Seafloor depth:-809.336127 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.12; 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 = 201.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 105.782484 meters # Minimum depth: 810.023189 meters looking forward 100.000000 meters along route # Maximum depth: 810.902596 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 760.023189 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.190821; longitude = -117.688098; captureRadius = 10; duration = 105; initialDepth = 760.023189; finalDepth = 759.336127; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.34968 # Actual altitude: 50.34968 # Commanded vehicle depth:760.023189 # Seafloor depth:-810.372869 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.40; 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 = 201.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 105.782834 meters # Minimum depth: 807.902969 meters looking forward 100.000000 meters along route # Maximum depth: 811.278433 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 757.902969 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.190509; longitude = -117.689170; captureRadius = 10; duration = 105; initialDepth = 757.902969; finalDepth = 760.023189; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.375464 # Actual altitude: 53.375464 # Commanded vehicle depth:757.902969 # Seafloor depth:-811.278433 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.50; 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 = 213.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 105.783186 meters # Minimum depth: 808.561211 meters looking forward 100.000000 meters along route # Maximum depth: 810.794984 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 758.561211 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.190196; longitude = -117.690242; captureRadius = 10; duration = 105; initialDepth = 758.561211; finalDepth = 757.902969; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.375464 # Actual altitude: 53.375464 # Commanded vehicle depth:758.561211 # Seafloor depth:-808.561211 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.50; 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 = 213.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 105.783538 meters # Minimum depth: 810.093194 meters looking forward 100.000000 meters along route # Maximum depth: 812.082027 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 760.093194 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.189884; longitude = -117.691314; captureRadius = 10; duration = 105; initialDepth = 760.093194; finalDepth = 758.561211; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.607706 # Actual altitude: 50.607706 # Commanded vehicle depth:760.093194 # Seafloor depth:-810.700900 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.43; 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 = 202.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 105.783889 meters # Minimum depth: 809.763574 meters looking forward 100.000000 meters along route # Maximum depth: 811.237682 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 759.763574 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.189572; longitude = -117.692387; captureRadius = 10; duration = 105; initialDepth = 759.763574; finalDepth = 760.093194; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.474108 # Actual altitude: 51.474108 # Commanded vehicle depth:759.763574 # Seafloor depth:-811.237682 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.90; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.59; MB_Bottom_Detect_Filter_Max_Range = 205.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 105.784241 meters # Minimum depth: 810.312518 meters looking forward 100.000000 meters along route # Maximum depth: 810.953540 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 760.312518 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.189260; longitude = -117.693459; captureRadius = 10; duration = 105; initialDepth = 760.312518; finalDepth = 759.763574; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.474108 # Actual altitude: 51.474108 # Commanded vehicle depth:760.312518 # Seafloor depth:-810.312518 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.90; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.59; MB_Bottom_Detect_Filter_Max_Range = 205.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 105.784592 meters # Minimum depth: 810.536320 meters looking forward 100.000000 meters along route # Maximum depth: 811.855985 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 760.536320 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.188947; longitude = -117.694531; captureRadius = 10; duration = 105; initialDepth = 760.536320; finalDepth = 760.312518; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.4022779999999 # Actual altitude: 50.4022779999999 # Commanded vehicle depth:760.53632 # Seafloor depth:-810.938598 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.61; 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 = 201.61; 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 9 # Segment length 105.784943 meters # Minimum depth: 810.908650 meters looking forward 100.000000 meters along route # Maximum depth: 812.694643 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 760.908650 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.188635; longitude = -117.695604; captureRadius = 10; duration = 105; initialDepth = 760.908650; finalDepth = 760.536320; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.4022779999999 # Actual altitude: 50.4022779999999 # Commanded vehicle depth:760.90865 # Seafloor depth:-811.145043 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.61; 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 = 201.61; 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 9 # Segment length 105.785295 meters # Minimum depth: 811.244983 meters looking forward 100.000000 meters along route # Maximum depth: 811.811493 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 761.244983 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.188323; longitude = -117.696676; captureRadius = 10; duration = 105; initialDepth = 761.244983; finalDepth = 760.908650; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.236393 # Actual altitude: 50.236393 # Commanded vehicle depth:761.244983 # Seafloor depth:-811.356369 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.95; 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 = 200.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 107.154268 meters # Minimum depth: 808.766102 meters looking forward 100.000000 meters along route # Maximum depth: 813.388544 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 758.766102 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.188011; longitude = -117.697748; captureRadius = 10; duration = 107; initialDepth = 758.766102; finalDepth = 761.244983; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.258934 # Actual altitude: 52.258934 # Commanded vehicle depth:758.766102 # Seafloor depth:-811.025036 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.90; MB_Bottom_Detect_Filter_Max_Range = 209.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 104.417377 meters # Minimum depth: 809.919294 meters looking forward 100.000000 meters along route # Maximum depth: 814.849365 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 759.919294 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.187694; longitude = -117.698834; captureRadius = 10; duration = 104; initialDepth = 759.919294; finalDepth = 758.766102; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.258934 # Actual altitude: 52.258934 # Commanded vehicle depth:759.919294 # Seafloor depth:-809.919294 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.90; MB_Bottom_Detect_Filter_Max_Range = 209.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 105.786350 meters # Minimum depth: 808.134300 meters looking forward 100.000000 meters along route # Maximum depth: 817.425491 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 758.134300 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.187386; longitude = -117.699893; captureRadius = 10; duration = 105; initialDepth = 758.134300; finalDepth = 759.919294; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:758.1343 # Seafloor depth:-808.134300 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 105.786702 meters # Minimum depth: 812.017828 meters looking forward 100.000000 meters along route # Maximum depth: 817.662669 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 762.017828 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.187074; longitude = -117.700965; captureRadius = 10; duration = 105; initialDepth = 762.017828; finalDepth = 758.134300; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.644841 # Actual altitude: 55.644841 # Commanded vehicle depth:762.017828 # Seafloor depth:-817.662669 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.58; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.26; MB_Bottom_Detect_Filter_Max_Range = 222.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 166.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 105.787053 meters # Minimum depth: 809.399974 meters looking forward 100.000000 meters along route # Maximum depth: 818.766720 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 759.399974 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.186761; longitude = -117.702037; captureRadius = 10; duration = 105; initialDepth = 759.399974; finalDepth = 762.017828; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.644841 # Actual altitude: 55.644841 # Commanded vehicle depth:759.399974 # Seafloor depth:-812.566089 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.58; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.26; MB_Bottom_Detect_Filter_Max_Range = 222.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 166.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 105.787405 meters # Minimum depth: 817.884389 meters looking forward 100.000000 meters along route # Maximum depth: 820.645519 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 767.884389 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.186449; longitude = -117.703109; captureRadius = 10; duration = 105; initialDepth = 767.884389; finalDepth = 759.399974; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.166115 # Actual altitude: 53.166115 # Commanded vehicle depth:767.884389 # Seafloor depth:-817.884389 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.66; 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 = 212.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 105.787757 meters # Minimum depth: 820.213335 meters looking forward 100.000000 meters along route # Maximum depth: 821.170789 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 770.213335 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.186137; longitude = -117.704182; captureRadius = 10; duration = 105; initialDepth = 770.213335; finalDepth = 767.884389; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.008186 # Actual altitude: 50.008186 # Commanded vehicle depth:770.213335 # Seafloor depth:-820.221521 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.03; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 105.788108 meters # Minimum depth: 822.485126 meters looking forward 100.000000 meters along route # Maximum depth: 823.799973 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 772.485126 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.185825; longitude = -117.705254; captureRadius = 10; duration = 105; initialDepth = 772.485126; finalDepth = 770.213335; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.008186 # Actual altitude: 50.008186 # Commanded vehicle depth:772.485126 # Seafloor depth:-822.485126 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.03; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 105.788460 meters # Minimum depth: 821.855825 meters looking forward 100.000000 meters along route # Maximum depth: 823.205883 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 771.855825 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.185512; longitude = -117.706326; captureRadius = 10; duration = 105; initialDepth = 771.855825; finalDepth = 772.485126; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.350058 # Actual altitude: 51.350058 # Commanded vehicle depth:771.855825 # Seafloor depth:-823.205883 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.54; MB_Bottom_Detect_Filter_Max_Range = 205.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 105.788812 meters # Minimum depth: 820.912950 meters looking forward 100.000000 meters along route # Maximum depth: 821.652887 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 770.912950 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.185200; longitude = -117.707399; captureRadius = 10; duration = 105; initialDepth = 770.912950; finalDepth = 771.855825; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.350058 # Actual altitude: 51.350058 # Commanded vehicle depth:770.91295 # Seafloor depth:-821.652887 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.54; MB_Bottom_Detect_Filter_Max_Range = 205.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 105.789164 meters # Minimum depth: 820.465579 meters looking forward 100.000000 meters along route # Maximum depth: 820.874822 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 770.465579 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.184888; longitude = -117.708471; captureRadius = 10; duration = 105; initialDepth = 770.465579; finalDepth = 770.912950; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.7399369999999 # Actual altitude: 50.7399369999999 # Commanded vehicle depth:770.465579 # Seafloor depth:-820.874822 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.30; MB_Bottom_Detect_Filter_Max_Range = 202.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 105.886209 meters # Minimum depth: 819.995223 meters looking forward 100.000000 meters along route # Maximum depth: 820.380555 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 769.995223 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.184575; longitude = -117.709543; captureRadius = 10; duration = 105; initialDepth = 769.995223; finalDepth = 770.465579; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.4092429999999 # Actual altitude: 50.4092429999999 # Commanded vehicle depth:769.995223 # Seafloor depth:-820.380555 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.64; 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 = 201.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 117.866385 meters # Minimum depth: 819.618720 meters looking forward 100.000000 meters along route # Maximum depth: 819.994884 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 769.618720 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.184263; longitude = -117.710616; captureRadius = 10; duration = 117; initialDepth = 769.618720; finalDepth = 769.995223; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.3853319999999 # Actual altitude: 50.3853319999999 # Commanded vehicle depth:769.61872 # Seafloor depth:-819.994884 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.54; 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 = 201.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 8 # Segment length 35.111660 meters # Minimum depth: 819.579742 meters looking forward 100.000000 meters along route # Maximum depth: 819.770749 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 769.579742 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.183915; longitude = -117.711811; captureRadius = 10; duration = 35; # abortOnTimeout = True; initialDepth = 769.579742; finalDepth = 769.618720; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.3761639999999 # Actual altitude: 50.3761639999999 # Commanded vehicle depth:769.579742 # Seafloor depth:-819.579742 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.50; 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 = 201.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 114.855637 meters # Minimum depth: 819.626305 meters looking forward 100.000000 meters along route # Maximum depth: 819.776183 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 769.626305 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.183616; longitude = -117.711688; captureRadius = 10; duration = 114; initialDepth = 769.626305; finalDepth = 769.579742; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:769.626305 # Seafloor depth:-819.626305 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 7 # Segment length 23.653920 meters # Minimum depth: 819.700782 meters looking forward 100.000000 meters along route # Maximum depth: 819.807392 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 769.700782 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.182637; longitude = -117.711284; captureRadius = 10; duration = 23; # abortOnTimeout = True; initialDepth = 769.700782; finalDepth = 769.626305; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.0660329999999 # Actual altitude: 50.0660329999999 # Commanded vehicle depth:769.700782 # Seafloor depth:-819.766815 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.03; MB_Bottom_Detect_Filter_Max_Range = 200.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 105.791190 meters # Minimum depth: 819.887262 meters looking forward 100.000000 meters along route # Maximum depth: 820.235477 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 769.887262 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.182707; longitude = -117.711044; captureRadius = 10; duration = 105; initialDepth = 769.887262; finalDepth = 769.700782; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.0660329999999 # Actual altitude: 50.0660329999999 # Commanded vehicle depth:769.887262 # Seafloor depth:-819.887262 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.03; MB_Bottom_Detect_Filter_Max_Range = 200.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 105.790838 meters # Minimum depth: 820.292334 meters looking forward 100.000000 meters along route # Maximum depth: 820.639734 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 770.292334 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.183019; longitude = -117.709972; captureRadius = 10; duration = 105; initialDepth = 770.292334; finalDepth = 769.887262; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:770.292334 # Seafloor depth:-820.292334 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 105.790487 meters # Minimum depth: 820.732834 meters looking forward 100.000000 meters along route # Maximum depth: 821.204279 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 770.732834 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.183331; longitude = -117.708900; captureRadius = 10; duration = 105; initialDepth = 770.732834; finalDepth = 770.292334; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:770.732834 # Seafloor depth:-820.732834 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 105.790134 meters # Minimum depth: 821.246967 meters looking forward 100.000000 meters along route # Maximum depth: 821.722139 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 771.246967 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.183644; longitude = -117.707827; captureRadius = 10; duration = 105; initialDepth = 771.246967; finalDepth = 770.732834; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:771.246967 # Seafloor depth:-821.246967 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 105.789783 meters # Minimum depth: 821.844226 meters looking forward 100.000000 meters along route # Maximum depth: 822.348564 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 771.844226 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.183956; longitude = -117.706755; captureRadius = 10; duration = 105; initialDepth = 771.844226; finalDepth = 771.246967; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:771.844226 # Seafloor depth:-821.844226 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 105.789431 meters # Minimum depth: 822.354756 meters looking forward 100.000000 meters along route # Maximum depth: 822.744638 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 772.354756 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.184268; longitude = -117.705683; captureRadius = 10; duration = 105; initialDepth = 772.354756; finalDepth = 771.844226; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:772.354756 # Seafloor depth:-822.354756 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 110.375419 meters # Minimum depth: 823.019478 meters looking forward 100.000000 meters along route # Maximum depth: 824.875099 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 773.019478 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.184580; longitude = -117.704611; captureRadius = 10; duration = 110; initialDepth = 773.019478; finalDepth = 772.354756; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:773.019478 # Seafloor depth:-823.019478 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 101.202388 meters # Minimum depth: 822.961297 meters looking forward 100.000000 meters along route # Maximum depth: 824.629850 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 772.961297 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.184906; longitude = -117.703492; captureRadius = 10; duration = 101; initialDepth = 772.961297; finalDepth = 773.019478; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.278036 # Actual altitude: 51.278036 # Commanded vehicle depth:772.961297 # Seafloor depth:-824.239333 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.11; 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 = 205.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 105.788376 meters # Minimum depth: 812.359369 meters looking forward 100.000000 meters along route # Maximum depth: 823.248405 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 762.359369 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.185205; longitude = -117.702466; captureRadius = 10; duration = 105; initialDepth = 762.359369; finalDepth = 772.961297; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.389089 # Actual altitude: 60.389089 # Commanded vehicle depth:762.359369 # Seafloor depth:-822.748458 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 241.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.16; MB_Bottom_Detect_Filter_Max_Range = 241.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 181.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 105.788025 meters # Minimum depth: 808.093961 meters looking forward 100.000000 meters along route # Maximum depth: 821.707548 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 758.093961 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.185517; longitude = -117.701394; captureRadius = 10; duration = 105; initialDepth = 758.093961; finalDepth = 762.359369; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.6135869999999 # Actual altitude: 63.6135869999999 # Commanded vehicle depth:758.093961 # Seafloor depth:-821.707548 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 254.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.45; MB_Bottom_Detect_Filter_Max_Range = 254.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 190.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 105.787672 meters # Minimum depth: 809.495009 meters looking forward 100.000000 meters along route # Maximum depth: 817.868196 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 759.495009 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.185830; longitude = -117.700322; captureRadius = 10; duration = 105; initialDepth = 759.495009; finalDepth = 758.093961; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.6135869999999 # Actual altitude: 63.6135869999999 # Commanded vehicle depth:759.495009 # Seafloor depth:-809.495009 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 254.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.45; MB_Bottom_Detect_Filter_Max_Range = 254.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 190.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 105.787321 meters # Minimum depth: 810.252432 meters looking forward 100.000000 meters along route # Maximum depth: 816.010927 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 760.252432 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.186142; longitude = -117.699249; captureRadius = 10; duration = 105; initialDepth = 760.252432; finalDepth = 759.495009; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.758495 # Actual altitude: 55.758495 # Commanded vehicle depth:760.252432 # Seafloor depth:-816.010927 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.03; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.30; MB_Bottom_Detect_Filter_Max_Range = 223.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 167.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 105.786970 meters # Minimum depth: 810.932033 meters looking forward 100.000000 meters along route # Maximum depth: 814.937923 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 760.932033 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.186454; longitude = -117.698177; captureRadius = 10; duration = 105; initialDepth = 760.932033; finalDepth = 760.252432; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.758495 # Actual altitude: 55.758495 # Commanded vehicle depth:760.932033 # Seafloor depth:-813.063107 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.03; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.30; MB_Bottom_Detect_Filter_Max_Range = 223.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 167.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 105.786618 meters # Minimum depth: 809.215735 meters looking forward 100.000000 meters along route # Maximum depth: 814.389124 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 759.215735 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.186766; longitude = -117.697105; captureRadius = 10; duration = 105; initialDepth = 759.215735; finalDepth = 760.932033; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.173389 # Actual altitude: 55.173389 # Commanded vehicle depth:759.215735 # Seafloor depth:-814.389124 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.69; 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 = 220.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 165.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 105.786266 meters # Minimum depth: 810.473687 meters looking forward 100.000000 meters along route # Maximum depth: 812.389264 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 760.473687 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.187079; longitude = -117.696032; captureRadius = 10; duration = 105; initialDepth = 760.473687; finalDepth = 759.215735; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.173389 # Actual altitude: 55.173389 # Commanded vehicle depth:760.473687 # Seafloor depth:-812.389264 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.69; 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 = 220.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 165.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 105.785915 meters # Minimum depth: 809.920800 meters looking forward 100.000000 meters along route # Maximum depth: 812.142480 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 759.920800 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.187391; longitude = -117.694960; captureRadius = 10; duration = 105; initialDepth = 759.920800; finalDepth = 760.473687; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.0743190000001 # Actual altitude: 52.0743190000001 # Commanded vehicle depth:759.9208 # Seafloor depth:-811.995119 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.30; 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 = 208.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 105.785564 meters # Minimum depth: 809.753253 meters looking forward 100.000000 meters along route # Maximum depth: 811.708079 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 759.753253 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.187703; longitude = -117.693888; captureRadius = 10; duration = 105; initialDepth = 759.753253; finalDepth = 759.920800; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.0743190000001 # Actual altitude: 52.0743190000001 # Commanded vehicle depth:759.753253 # Seafloor depth:-809.753253 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.30; 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 = 208.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 109.099463 meters # Minimum depth: 810.603598 meters looking forward 100.000000 meters along route # Maximum depth: 811.491751 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 760.603598 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.188016; longitude = -117.692816; captureRadius = 10; duration = 109; initialDepth = 760.603598; finalDepth = 759.753253; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.888153 # Actual altitude: 50.888153 # Commanded vehicle depth:760.603598 # Seafloor depth:-811.491751 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.36; MB_Bottom_Detect_Filter_Max_Range = 203.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 102.470610 meters # Minimum depth: 810.717966 meters looking forward 100.000000 meters along route # Maximum depth: 812.395374 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 760.717966 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.188338; longitude = -117.691710; captureRadius = 10; duration = 102; initialDepth = 760.717966; finalDepth = 760.603598; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.888153 # Actual altitude: 50.888153 # Commanded vehicle depth:760.717966 # Seafloor depth:-811.060465 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.36; MB_Bottom_Detect_Filter_Max_Range = 203.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 105.784509 meters # Minimum depth: 810.474825 meters looking forward 100.000000 meters along route # Maximum depth: 811.507226 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 760.474825 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.188640; longitude = -117.690671; captureRadius = 10; duration = 105; initialDepth = 760.474825; finalDepth = 760.717966; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.342499 # Actual altitude: 50.342499 # Commanded vehicle depth:760.474825 # Seafloor depth:-810.620802 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.37; 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 = 201.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 105.784158 meters # Minimum depth: 810.856868 meters looking forward 100.000000 meters along route # Maximum depth: 811.927189 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 760.856868 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.188952; longitude = -117.689599; captureRadius = 10; duration = 105; initialDepth = 760.856868; finalDepth = 760.474825; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.418364 # Actual altitude: 50.418364 # Commanded vehicle depth:760.856868 # Seafloor depth:-811.275232 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.17; MB_Bottom_Detect_Filter_Max_Range = 201.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 105.783806 meters # Minimum depth: 808.937586 meters looking forward 100.000000 meters along route # Maximum depth: 810.868337 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 758.937586 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.189265; longitude = -117.688527; captureRadius = 10; duration = 105; initialDepth = 758.937586; finalDepth = 760.856868; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.930751 # Actual altitude: 51.930751 # Commanded vehicle depth:758.937586 # Seafloor depth:-810.868337 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.72; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.77; MB_Bottom_Detect_Filter_Max_Range = 207.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 105.783455 meters # Minimum depth: 809.020755 meters looking forward 100.000000 meters along route # Maximum depth: 810.649015 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 759.020755 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.189577; longitude = -117.687454; captureRadius = 10; duration = 105; initialDepth = 759.020755; finalDepth = 758.937586; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.930751 # Actual altitude: 51.930751 # Commanded vehicle depth:759.020755 # Seafloor depth:-809.020755 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.72; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.77; MB_Bottom_Detect_Filter_Max_Range = 207.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 105.783104 meters # Minimum depth: 809.240501 meters looking forward 100.000000 meters along route # Maximum depth: 810.814364 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 759.240501 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.189889; longitude = -117.686382; captureRadius = 10; duration = 105; initialDepth = 759.240501; finalDepth = 759.020755; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.5389710000001 # Actual altitude: 51.5389710000001 # Commanded vehicle depth:759.240501 # Seafloor depth:-810.779472 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.16; 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 = 206.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 105.782753 meters # Minimum depth: 809.634505 meters looking forward 100.000000 meters along route # Maximum depth: 810.819868 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 759.634505 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.190201; longitude = -117.685310; captureRadius = 10; duration = 105; initialDepth = 759.634505; finalDepth = 759.240501; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.5389710000001 # Actual altitude: 51.5389710000001 # Commanded vehicle depth:759.634505 # Seafloor depth:-809.634505 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.16; 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 = 206.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 105.782401 meters # Minimum depth: 808.963968 meters looking forward 100.000000 meters along route # Maximum depth: 810.393123 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 758.963968 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.190514; longitude = -117.684237; captureRadius = 10; duration = 105; initialDepth = 758.963968; finalDepth = 759.634505; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9589129999999 # Actual altitude: 50.9589129999999 # Commanded vehicle depth:758.963968 # Seafloor depth:-809.922881 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.84; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.38; MB_Bottom_Detect_Filter_Max_Range = 203.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 105.782050 meters # Minimum depth: 808.634150 meters looking forward 100.000000 meters along route # Maximum depth: 810.477053 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 758.634150 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.190826; longitude = -117.683165; captureRadius = 10; duration = 105; initialDepth = 758.634150; finalDepth = 758.963968; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9589129999999 # Actual altitude: 50.9589129999999 # Commanded vehicle depth:758.63415 # Seafloor depth:-809.066477 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.84; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.38; MB_Bottom_Detect_Filter_Max_Range = 203.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 105.781699 meters # Minimum depth: 808.524240 meters looking forward 100.000000 meters along route # Maximum depth: 810.182753 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 758.524240 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.191138; longitude = -117.682093; captureRadius = 10; duration = 105; initialDepth = 758.524240; finalDepth = 758.634150; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.2882530000001 # Actual altitude: 51.2882530000001 # Commanded vehicle depth:758.52424 # Seafloor depth:-809.812493 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.52; MB_Bottom_Detect_Filter_Max_Range = 205.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 107.823602 meters # Minimum depth: 808.031880 meters looking forward 100.000000 meters along route # Maximum depth: 809.890359 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 758.031880 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.191451; longitude = -117.681021; captureRadius = 10; duration = 107; initialDepth = 758.031880; finalDepth = 758.524240; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.2882530000001 # Actual altitude: 51.2882530000001 # Commanded vehicle depth:758.03188 # Seafloor depth:-808.941215 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.52; MB_Bottom_Detect_Filter_Max_Range = 205.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 103.738742 meters # Minimum depth: 808.566090 meters looking forward 100.000000 meters along route # Maximum depth: 809.738305 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 758.566090 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.191769; longitude = -117.679928; captureRadius = 10; duration = 103; initialDepth = 758.566090; finalDepth = 758.031880; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.1722149999999 # Actual altitude: 51.1722149999999 # Commanded vehicle depth:758.56609 # Seafloor depth:-809.738305 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.47; MB_Bottom_Detect_Filter_Max_Range = 204.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 105.780645 meters # Minimum depth: 806.550030 meters looking forward 100.000000 meters along route # Maximum depth: 808.811100 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 756.550030 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.192075; longitude = -117.678876; captureRadius = 10; duration = 105; initialDepth = 756.550030; finalDepth = 758.566090; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.26107 # Actual altitude: 52.26107 # Commanded vehicle depth:756.55003 # Seafloor depth:-808.811100 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.90; MB_Bottom_Detect_Filter_Max_Range = 209.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 105.780295 meters # Minimum depth: 804.866834 meters looking forward 100.000000 meters along route # Maximum depth: 811.118057 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 754.866834 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.192387; longitude = -117.677804; captureRadius = 10; duration = 105; initialDepth = 754.866834; finalDepth = 756.550030; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.8331609999999 # Actual altitude: 55.8331609999999 # Commanded vehicle depth:754.866834 # Seafloor depth:-810.699995 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.33; MB_Bottom_Detect_Filter_Max_Range = 223.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 167.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 105.779943 meters # Minimum depth: 803.751138 meters looking forward 100.000000 meters along route # Maximum depth: 807.541274 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 753.751138 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.192700; longitude = -117.676732; captureRadius = 10; duration = 105; initialDepth = 753.751138; finalDepth = 754.866834; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.8331609999999 # Actual altitude: 55.8331609999999 # Commanded vehicle depth:753.751138 # Seafloor depth:-803.751138 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.33; MB_Bottom_Detect_Filter_Max_Range = 223.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 167.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 105.779592 meters # Minimum depth: 804.388389 meters looking forward 100.000000 meters along route # Maximum depth: 806.356402 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 754.388389 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.193012; longitude = -117.675659; captureRadius = 10; duration = 105; initialDepth = 754.388389; finalDepth = 753.751138; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.052306 # Actual altitude: 51.052306 # Commanded vehicle depth:754.388389 # Seafloor depth:-805.440695 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.21; 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 = 204.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 104.269534 meters # Minimum depth: 800.525099 meters looking forward 100.000000 meters along route # Maximum depth: 806.711222 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 750.525099 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.193324; longitude = -117.674587; captureRadius = 10; duration = 104; initialDepth = 750.525099; finalDepth = 754.388389; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.1861230000001 # Actual altitude: 56.1861230000001 # Commanded vehicle depth:750.525099 # Seafloor depth:-806.711222 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 224.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.47; MB_Bottom_Detect_Filter_Max_Range = 224.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 168.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 6 # Segment length 42.464202 meters # Minimum depth: 800.147052 meters looking forward 100.000000 meters along route # Maximum depth: 806.535434 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 750.147052 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.193632; longitude = -117.673530; captureRadius = 10; duration = 42; # abortOnTimeout = True; initialDepth = 750.147052; finalDepth = 750.525099; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.1861230000001 # Actual altitude: 56.1861230000001 # Commanded vehicle depth:750.147052 # Seafloor depth:-804.822952 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 224.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.47; MB_Bottom_Detect_Filter_Max_Range = 224.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 168.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 107.574942 meters # Minimum depth: 801.958545 meters looking forward 100.000000 meters along route # Maximum depth: 811.197656 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 751.958545 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.193270; longitude = -117.673381; captureRadius = 10; duration = 107; initialDepth = 751.958545; finalDepth = 750.147052; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.1723330000001 # Actual altitude: 56.1723330000001 # Commanded vehicle depth:751.958545 # Seafloor depth:-808.130878 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 224.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.47; MB_Bottom_Detect_Filter_Max_Range = 224.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 168.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 5 # Segment length 8.068292 meters # Minimum depth: 801.958545 meters looking forward 100.000000 meters along route # Maximum depth: 811.197656 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 751.958545 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.192353; longitude = -117.673004; captureRadius = 10; duration = 8; # abortOnTimeout = True; initialDepth = 751.958545; finalDepth = 751.958545; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.8669550000001 # Actual altitude: 56.8669550000001 # Commanded vehicle depth:751.958545 # Seafloor depth:-808.825500 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 227.47; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.75; MB_Bottom_Detect_Filter_Max_Range = 227.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 170.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 105.779905 meters # Minimum depth: 797.748346 meters looking forward 100.000000 meters along route # Maximum depth: 813.106140 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 747.748346 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.192329; longitude = -117.673086; captureRadius = 10; duration = 105; initialDepth = 747.748346; finalDepth = 751.958545; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.8669550000001 # Actual altitude: 56.8669550000001 # Commanded vehicle depth:747.748346 # Seafloor depth:-803.370521 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 227.47; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.75; MB_Bottom_Detect_Filter_Max_Range = 227.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 170.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 105.780255 meters # Minimum depth: 802.203561 meters looking forward 100.000000 meters along route # Maximum depth: 809.411262 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 752.203561 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.192017; longitude = -117.674158; captureRadius = 10; duration = 105; initialDepth = 752.203561; finalDepth = 747.748346; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.6221750000001 # Actual altitude: 55.6221750000001 # Commanded vehicle depth:752.203561 # Seafloor depth:-805.334682 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.25; MB_Bottom_Detect_Filter_Max_Range = 222.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 166.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 105.780607 meters # Minimum depth: 803.816520 meters looking forward 100.000000 meters along route # Maximum depth: 809.532507 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 753.816520 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.191705; longitude = -117.675230; captureRadius = 10; duration = 105; initialDepth = 753.816520; finalDepth = 752.203561; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.131121 # Actual altitude: 53.131121 # Commanded vehicle depth:753.81652 # Seafloor depth:-803.893181 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.25; MB_Bottom_Detect_Filter_Max_Range = 212.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 105.780958 meters # Minimum depth: 805.448975 meters looking forward 100.000000 meters along route # Maximum depth: 811.910830 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 755.448975 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.191392; longitude = -117.676303; captureRadius = 10; duration = 105; initialDepth = 755.448975; finalDepth = 753.816520; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.41981 # Actual altitude: 52.41981 # Commanded vehicle depth:755.448975 # Seafloor depth:-807.868785 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.97; MB_Bottom_Detect_Filter_Max_Range = 209.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 105.781309 meters # Minimum depth: 806.298684 meters looking forward 100.000000 meters along route # Maximum depth: 809.681380 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 756.298684 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.191080; longitude = -117.677375; captureRadius = 10; duration = 105; initialDepth = 756.298684; finalDepth = 755.448975; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.41981 # Actual altitude: 52.41981 # Commanded vehicle depth:756.298684 # Seafloor depth:-806.298684 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.97; MB_Bottom_Detect_Filter_Max_Range = 209.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 105.781661 meters # Minimum depth: 806.731802 meters looking forward 100.000000 meters along route # Maximum depth: 809.783128 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 756.731802 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.190768; longitude = -117.678447; captureRadius = 10; duration = 105; initialDepth = 756.731802; finalDepth = 756.298684; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.345727 # Actual altitude: 50.345727 # Commanded vehicle depth:756.731802 # Seafloor depth:-807.077529 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.38; 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 = 201.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 105.782011 meters # Minimum depth: 807.672594 meters looking forward 100.000000 meters along route # Maximum depth: 810.309447 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 757.672594 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.190456; longitude = -117.679519; captureRadius = 10; duration = 105; initialDepth = 757.672594; finalDepth = 756.731802; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.787771 # Actual altitude: 51.787771 # Commanded vehicle depth:757.672594 # Seafloor depth:-809.460365 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.72; MB_Bottom_Detect_Filter_Max_Range = 207.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 105.782362 meters # Minimum depth: 808.492940 meters looking forward 100.000000 meters along route # Maximum depth: 810.667690 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 758.492940 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.190143; longitude = -117.680592; captureRadius = 10; duration = 105; initialDepth = 758.492940; finalDepth = 757.672594; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.787771 # Actual altitude: 51.787771 # Commanded vehicle depth:758.49294 # Seafloor depth:-809.027839 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.72; MB_Bottom_Detect_Filter_Max_Range = 207.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 105.782714 meters # Minimum depth: 808.578391 meters looking forward 100.000000 meters along route # Maximum depth: 810.732994 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 758.578391 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.189831; longitude = -117.681664; captureRadius = 10; duration = 105; initialDepth = 758.578391; finalDepth = 758.492940; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.154603 # Actual altitude: 52.154603 # Commanded vehicle depth:758.578391 # Seafloor depth:-810.732994 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.62; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.86; MB_Bottom_Detect_Filter_Max_Range = 208.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 109.595059 meters # Minimum depth: 808.667403 meters looking forward 100.000000 meters along route # Maximum depth: 810.386511 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 758.667403 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.189519; longitude = -117.682736; captureRadius = 10; duration = 109; initialDepth = 758.667403; finalDepth = 758.578391; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.154603 # Actual altitude: 52.154603 # Commanded vehicle depth:758.667403 # Seafloor depth:-810.386511 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.62; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.86; MB_Bottom_Detect_Filter_Max_Range = 208.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 101.971422 meters # Minimum depth: 809.512237 meters looking forward 100.000000 meters along route # Maximum depth: 811.435068 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 759.512237 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.189195; longitude = -117.683847; captureRadius = 10; duration = 101; initialDepth = 759.512237; finalDepth = 758.667403; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.719108 # Actual altitude: 51.719108 # Commanded vehicle depth:759.512237 # Seafloor depth:-809.512237 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.88; 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 = 206.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 105.783767 meters # Minimum depth: 810.256539 meters looking forward 100.000000 meters along route # Maximum depth: 811.944939 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 760.256539 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.188894; longitude = -117.684881; captureRadius = 10; duration = 105; initialDepth = 760.256539; finalDepth = 759.512237; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:760.256539 # Seafloor depth:-810.256539 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 105.784119 meters # Minimum depth: 808.555717 meters looking forward 100.000000 meters along route # Maximum depth: 810.162421 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 758.555717 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.188582; longitude = -117.685953; captureRadius = 10; duration = 105; initialDepth = 758.555717; finalDepth = 760.256539; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.8775770000001 # Actual altitude: 50.8775770000001 # Commanded vehicle depth:758.555717 # Seafloor depth:-809.433294 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.35; MB_Bottom_Detect_Filter_Max_Range = 203.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 105.784470 meters # Minimum depth: 811.397029 meters looking forward 100.000000 meters along route # Maximum depth: 812.938417 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 761.397029 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.188270; longitude = -117.687025; captureRadius = 10; duration = 105; initialDepth = 761.397029; finalDepth = 758.555717; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.8775770000001 # Actual altitude: 50.8775770000001 # Commanded vehicle depth:761.397029 # Seafloor depth:-811.407982 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.35; MB_Bottom_Detect_Filter_Max_Range = 203.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 105.784821 meters # Minimum depth: 809.982660 meters looking forward 100.000000 meters along route # Maximum depth: 811.585749 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 759.982660 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.187958; longitude = -117.688098; captureRadius = 10; duration = 105; initialDepth = 759.982660; finalDepth = 761.397029; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.603089 # Actual altitude: 51.603089 # Commanded vehicle depth:759.98266 # Seafloor depth:-811.585749 # 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 5 # Segment length 105.785172 meters # Minimum depth: 810.474020 meters looking forward 100.000000 meters along route # Maximum depth: 812.201562 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 760.474020 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.187645; longitude = -117.689170; captureRadius = 10; duration = 105; initialDepth = 760.474020; finalDepth = 759.982660; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.603089 # Actual altitude: 51.603089 # Commanded vehicle depth:760.47402 # Seafloor depth:-810.474020 # 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 5 # Segment length 105.785524 meters # Minimum depth: 810.665734 meters looking forward 100.000000 meters along route # Maximum depth: 812.600714 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 760.665734 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.187333; longitude = -117.690242; captureRadius = 10; duration = 105; initialDepth = 760.665734; finalDepth = 760.474020; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.3337839999999 # Actual altitude: 50.3337839999999 # Commanded vehicle depth:760.665734 # Seafloor depth:-810.999518 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.13; MB_Bottom_Detect_Filter_Max_Range = 201.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 105.785875 meters # Minimum depth: 810.580370 meters looking forward 100.000000 meters along route # Maximum depth: 812.166011 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 760.580370 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.187021; longitude = -117.691314; captureRadius = 10; duration = 105; initialDepth = 760.580370; finalDepth = 760.665734; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.762466 # Actual altitude: 50.762466 # Commanded vehicle depth:760.58037 # Seafloor depth:-811.342836 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.05; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.30; MB_Bottom_Detect_Filter_Max_Range = 203.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 105.786227 meters # Minimum depth: 810.855392 meters looking forward 100.000000 meters along route # Maximum depth: 812.957341 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 760.855392 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.186709; longitude = -117.692387; captureRadius = 10; duration = 105; initialDepth = 760.855392; finalDepth = 760.580370; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.140266 # Actual altitude: 51.140266 # Commanded vehicle depth:760.855392 # Seafloor depth:-811.995658 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.56; 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 = 204.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 105.786578 meters # Minimum depth: 810.429506 meters looking forward 100.000000 meters along route # Maximum depth: 814.205379 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 760.429506 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.186396; longitude = -117.693459; captureRadius = 10; duration = 105; initialDepth = 760.429506; finalDepth = 760.855392; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.181287 # Actual altitude: 52.181287 # Commanded vehicle depth:760.429506 # Seafloor depth:-812.610793 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.73; 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 = 208.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 108.402054 meters # Minimum depth: 811.262130 meters looking forward 100.000000 meters along route # Maximum depth: 814.680093 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 761.262130 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.186084; longitude = -117.694531; captureRadius = 10; duration = 108; initialDepth = 761.262130; finalDepth = 760.429506; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.181287 # Actual altitude: 52.181287 # Commanded vehicle depth:761.26213 # Seafloor depth:-813.379813 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.73; 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 = 208.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 103.172157 meters # Minimum depth: 809.606831 meters looking forward 100.000000 meters along route # Maximum depth: 814.954053 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 759.606831 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.185764; longitude = -117.695630; captureRadius = 10; duration = 103; initialDepth = 759.606831; finalDepth = 761.262130; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.1176830000001 # Actual altitude: 52.1176830000001 # Commanded vehicle depth:759.606831 # Seafloor depth:-811.119715 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.47; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.85; MB_Bottom_Detect_Filter_Max_Range = 208.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 105.787632 meters # Minimum depth: 811.389612 meters looking forward 100.000000 meters along route # Maximum depth: 816.780976 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 761.389612 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.185460; longitude = -117.696676; captureRadius = 10; duration = 105; initialDepth = 761.389612; finalDepth = 759.606831; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.049896 # Actual altitude: 53.049896 # Commanded vehicle depth:761.389612 # Seafloor depth:-814.439508 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.20; 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 = 212.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 105.787985 meters # Minimum depth: 808.895730 meters looking forward 100.000000 meters along route # Maximum depth: 816.841974 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 758.895730 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.185147; longitude = -117.697748; captureRadius = 10; duration = 105; initialDepth = 758.895730; finalDepth = 761.389612; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.078259 # Actual altitude: 57.078259 # Commanded vehicle depth:758.89573 # Seafloor depth:-815.973989 # 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 5 # Segment length 105.788335 meters # Minimum depth: 806.332589 meters looking forward 100.000000 meters along route # Maximum depth: 820.536876 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 756.332589 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.184835; longitude = -117.698820; captureRadius = 10; duration = 105; initialDepth = 756.332589; finalDepth = 758.895730; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.316458 # Actual altitude: 60.316458 # Commanded vehicle depth:756.332589 # Seafloor depth:-816.649047 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 241.27; 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 = 241.27; 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 5 # Segment length 105.788687 meters # Minimum depth: 820.036356 meters looking forward 100.000000 meters along route # Maximum depth: 821.201267 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 770.036356 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.184523; longitude = -117.699893; captureRadius = 10; duration = 105; initialDepth = 770.036356; finalDepth = 756.332589; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.316458 # Actual altitude: 60.316458 # Commanded vehicle depth:770.036356 # Seafloor depth:-820.664702 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 241.27; 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 = 241.27; 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 5 # Segment length 105.789039 meters # Minimum depth: 821.046735 meters looking forward 100.000000 meters along route # Maximum depth: 821.778758 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 771.046735 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.184211; longitude = -117.700965; captureRadius = 10; duration = 105; initialDepth = 771.046735; finalDepth = 770.036356; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.6283460000001 # Actual altitude: 50.6283460000001 # Commanded vehicle depth:771.046735 # Seafloor depth:-821.149526 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.25; MB_Bottom_Detect_Filter_Max_Range = 202.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 105.789391 meters # Minimum depth: 822.080093 meters looking forward 100.000000 meters along route # Maximum depth: 823.226994 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 772.080093 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.183898; longitude = -117.702037; captureRadius = 10; duration = 105; initialDepth = 772.080093; finalDepth = 771.046735; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.102791 # Actual altitude: 50.102791 # Commanded vehicle depth:772.080093 # Seafloor depth:-822.080093 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.41; 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 = 200.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 105.789742 meters # Minimum depth: 823.122665 meters looking forward 100.000000 meters along route # Maximum depth: 823.407673 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 773.122665 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.183586; longitude = -117.703109; captureRadius = 10; duration = 105; initialDepth = 773.122665; finalDepth = 772.080093; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.200652 # Actual altitude: 50.200652 # Commanded vehicle depth:773.122665 # Seafloor depth:-823.323317 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.08; MB_Bottom_Detect_Filter_Max_Range = 200.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 105.790094 meters # Minimum depth: 822.325549 meters looking forward 100.000000 meters along route # Maximum depth: 822.975177 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 772.325549 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.183274; longitude = -117.704182; captureRadius = 10; duration = 105; initialDepth = 772.325549; finalDepth = 773.122665; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.649628 # Actual altitude: 50.649628 # Commanded vehicle depth:772.325549 # Seafloor depth:-822.975177 # 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 5 # Segment length 105.790445 meters # Minimum depth: 821.879546 meters looking forward 100.000000 meters along route # Maximum depth: 822.298241 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 771.879546 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.182962; longitude = -117.705254; captureRadius = 10; duration = 105; initialDepth = 771.879546; finalDepth = 772.325549; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.649628 # Actual altitude: 50.649628 # Commanded vehicle depth:771.879546 # Seafloor depth:-822.298241 # 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 5 # Segment length 107.208965 meters # Minimum depth: 821.315148 meters looking forward 100.000000 meters along route # Maximum depth: 821.782323 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 771.315148 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.182649; longitude = -117.706326; captureRadius = 10; duration = 107; initialDepth = 771.315148; finalDepth = 771.879546; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.467175 # Actual altitude: 50.467175 # Commanded vehicle depth:771.315148 # Seafloor depth:-821.782323 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.87; 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 = 201.87; 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 5 # Segment length 104.372981 meters # Minimum depth: 820.961048 meters looking forward 100.000000 meters along route # Maximum depth: 821.309019 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 770.961048 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.182333; longitude = -117.707413; captureRadius = 10; duration = 104; initialDepth = 770.961048; finalDepth = 771.315148; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.467175 # Actual altitude: 50.467175 # Commanded vehicle depth:770.961048 # Seafloor depth:-821.309019 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.87; 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 = 201.87; 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 5 # Segment length 113.597210 meters # Minimum depth: 820.462054 meters looking forward 100.000000 meters along route # Maximum depth: 820.875635 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 770.462054 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.182025; longitude = -117.708471; captureRadius = 10; duration = 113; initialDepth = 770.462054; finalDepth = 770.961048; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.413581 # Actual altitude: 50.413581 # Commanded vehicle depth:770.462054 # Seafloor depth:-820.875635 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.17; MB_Bottom_Detect_Filter_Max_Range = 201.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 111.962422 meters # Minimum depth: 820.064067 meters looking forward 100.000000 meters along route # Maximum depth: 820.432295 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 770.064067 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.181689; longitude = -117.709622; captureRadius = 10; duration = 111; initialDepth = 770.064067; finalDepth = 770.462054; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.413581 # Actual altitude: 50.413581 # Commanded vehicle depth:770.064067 # Seafloor depth:-820.432295 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.17; MB_Bottom_Detect_Filter_Max_Range = 201.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 4 # Segment length 40.339824 meters # Minimum depth: 820.024811 meters looking forward 100.000000 meters along route # Maximum depth: 820.222197 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 770.024811 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.181359; longitude = -117.710757; captureRadius = 10; duration = 40; # abortOnTimeout = True; initialDepth = 770.024811; finalDepth = 770.064067; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.3682279999999 # Actual altitude: 50.3682279999999 # Commanded vehicle depth:770.024811 # Seafloor depth:-820.024811 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.47; 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 = 201.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 109.732617 meters # Minimum depth: 820.066163 meters looking forward 100.000000 meters along route # Maximum depth: 820.188849 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 770.066163 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.181015; longitude = -117.710615; captureRadius = 10; duration = 109; initialDepth = 770.066163; finalDepth = 770.024811; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:770.066163 # Seafloor depth:-820.066163 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 3 # Segment length 25.457547 meters # Minimum depth: 820.126163 meters looking forward 100.000000 meters along route # Maximum depth: 820.219862 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 770.126163 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.180080; longitude = -117.710230; captureRadius = 10; duration = 25; # abortOnTimeout = True; initialDepth = 770.126163; finalDepth = 770.066163; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.055966 # Actual altitude: 50.055966 # Commanded vehicle depth:770.126163 # Seafloor depth:-820.182129 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.22; 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 = 200.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 105.794507 meters # Minimum depth: 820.294583 meters looking forward 100.000000 meters along route # Maximum depth: 820.592697 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 770.294583 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.180155; longitude = -117.709972; captureRadius = 10; duration = 105; initialDepth = 770.294583; finalDepth = 770.126163; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.055966 # Actual altitude: 50.055966 # Commanded vehicle depth:770.294583 # Seafloor depth:-820.294583 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.22; 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 = 200.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 105.794154 meters # Minimum depth: 820.666378 meters looking forward 100.000000 meters along route # Maximum depth: 820.959277 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 770.666378 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.180467; longitude = -117.708900; captureRadius = 10; duration = 105; initialDepth = 770.666378; finalDepth = 770.294583; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:770.666378 # Seafloor depth:-820.666378 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 105.793804 meters # Minimum depth: 821.032697 meters looking forward 100.000000 meters along route # Maximum depth: 821.342375 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 771.032697 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.180780; longitude = -117.707827; captureRadius = 10; duration = 105; initialDepth = 771.032697; finalDepth = 770.666378; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:771.032697 # Seafloor depth:-821.032697 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 105.793451 meters # Minimum depth: 821.396027 meters looking forward 100.000000 meters along route # Maximum depth: 821.678879 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 771.396027 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.181092; longitude = -117.706755; captureRadius = 10; duration = 105; initialDepth = 771.396027; finalDepth = 771.032697; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:771.396027 # Seafloor depth:-821.396027 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 105.793100 meters # Minimum depth: 821.747623 meters looking forward 100.000000 meters along route # Maximum depth: 822.035379 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 771.747623 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.181404; longitude = -117.705683; captureRadius = 10; duration = 105; initialDepth = 771.747623; finalDepth = 771.396027; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:771.747623 # Seafloor depth:-821.747623 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 105.792748 meters # Minimum depth: 822.060758 meters looking forward 100.000000 meters along route # Maximum depth: 822.219872 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 772.060758 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.181717; longitude = -117.704611; captureRadius = 10; duration = 105; initialDepth = 772.060758; finalDepth = 771.747623; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:772.060758 # Seafloor depth:-822.060758 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 105.792396 meters # Minimum depth: 822.024367 meters looking forward 100.000000 meters along route # Maximum depth: 822.232344 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 772.024367 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.182029; longitude = -117.703538; captureRadius = 10; duration = 105; initialDepth = 772.024367; finalDepth = 772.060758; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.207977 # Actual altitude: 50.207977 # Commanded vehicle depth:772.024367 # Seafloor depth:-822.232344 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.08; MB_Bottom_Detect_Filter_Max_Range = 200.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 105.792044 meters # Minimum depth: 821.409991 meters looking forward 100.000000 meters along route # Maximum depth: 822.012591 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 771.409991 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.182341; longitude = -117.702466; captureRadius = 10; duration = 105; initialDepth = 771.409991; finalDepth = 772.024367; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.6026000000001 # Actual altitude: 50.6026000000001 # Commanded vehicle depth:771.409991 # Seafloor depth:-822.012591 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.41; 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 = 202.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.322198 meters # Minimum depth: 819.440460 meters looking forward 100.000000 meters along route # Maximum depth: 821.157166 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 769.440460 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.182653; longitude = -117.701394; captureRadius = 10; duration = 109; initialDepth = 769.440460; finalDepth = 771.409991; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.7167059999999 # Actual altitude: 51.7167059999999 # Commanded vehicle depth:769.44046 # Seafloor depth:-821.157166 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.87; 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 = 206.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 102.260837 meters # Minimum depth: 819.559611 meters looking forward 100.000000 meters along route # Maximum depth: 820.714236 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 769.559611 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.182976; longitude = -117.700286; captureRadius = 10; duration = 102; initialDepth = 769.559611; finalDepth = 769.440460; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.7167059999999 # Actual altitude: 51.7167059999999 # Commanded vehicle depth:769.559611 # Seafloor depth:-819.559611 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.87; 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 = 206.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 105.790990 meters # Minimum depth: 819.863308 meters looking forward 100.000000 meters along route # Maximum depth: 820.207589 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 769.863308 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.183278; longitude = -117.699249; captureRadius = 10; duration = 105; initialDepth = 769.863308; finalDepth = 769.559611; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.2414190000001 # Actual altitude: 50.2414190000001 # Commanded vehicle depth:769.863308 # Seafloor depth:-820.104727 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.10; MB_Bottom_Detect_Filter_Max_Range = 200.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 105.790638 meters # Minimum depth: 817.987633 meters looking forward 100.000000 meters along route # Maximum depth: 819.220958 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 767.987633 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.183590; longitude = -117.698177; captureRadius = 10; duration = 105; initialDepth = 767.987633; finalDepth = 769.863308; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.233325 # Actual altitude: 51.233325 # Commanded vehicle depth:767.987633 # Seafloor depth:-819.220958 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.49; MB_Bottom_Detect_Filter_Max_Range = 204.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 105.790286 meters # Minimum depth: 807.662862 meters looking forward 100.000000 meters along route # Maximum depth: 816.120366 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 757.662862 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.183903; longitude = -117.697105; captureRadius = 10; duration = 105; initialDepth = 757.662862; finalDepth = 767.987633; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.457504 # Actual altitude: 58.457504 # Commanded vehicle depth:757.662862 # Seafloor depth:-816.120366 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 233.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.38; MB_Bottom_Detect_Filter_Max_Range = 233.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 105.789936 meters # Minimum depth: 810.547415 meters looking forward 100.000000 meters along route # Maximum depth: 815.987113 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 760.547415 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.184215; longitude = -117.696032; captureRadius = 10; duration = 105; initialDepth = 760.547415; finalDepth = 757.662862; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.457504 # Actual altitude: 58.457504 # Commanded vehicle depth:760.547415 # Seafloor depth:-815.987113 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 233.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.38; MB_Bottom_Detect_Filter_Max_Range = 233.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 105.789583 meters # Minimum depth: 812.720696 meters looking forward 100.000000 meters along route # Maximum depth: 816.764010 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 762.720696 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.184527; longitude = -117.694960; captureRadius = 10; duration = 105; initialDepth = 762.720696; finalDepth = 760.547415; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.439698 # Actual altitude: 55.439698 # Commanded vehicle depth:762.720696 # Seafloor depth:-816.764010 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.76; 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 = 221.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 166.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 105.789232 meters # Minimum depth: 813.211671 meters looking forward 100.000000 meters along route # Maximum depth: 815.984807 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 763.211671 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.184840; longitude = -117.693888; captureRadius = 10; duration = 105; initialDepth = 763.211671; finalDepth = 762.720696; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.043314 # Actual altitude: 54.043314 # Commanded vehicle depth:763.211671 # Seafloor depth:-815.984807 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.62; MB_Bottom_Detect_Filter_Max_Range = 216.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 105.788881 meters # Minimum depth: 810.740240 meters looking forward 100.000000 meters along route # Maximum depth: 814.968003 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 760.740240 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.185152; longitude = -117.692816; captureRadius = 10; duration = 105; initialDepth = 760.740240; finalDepth = 763.211671; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.227763 # Actual altitude: 54.227763 # Commanded vehicle depth:760.74024 # Seafloor depth:-814.968003 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.91; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.69; MB_Bottom_Detect_Filter_Max_Range = 216.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 105.788529 meters # Minimum depth: 811.490121 meters looking forward 100.000000 meters along route # Maximum depth: 813.578663 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 761.490121 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.185464; longitude = -117.691743; captureRadius = 10; duration = 105; initialDepth = 761.490121; finalDepth = 760.740240; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.227763 # Actual altitude: 54.227763 # Commanded vehicle depth:761.490121 # Seafloor depth:-813.312642 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.91; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.69; MB_Bottom_Detect_Filter_Max_Range = 216.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 105.788178 meters # Minimum depth: 811.018480 meters looking forward 100.000000 meters along route # Maximum depth: 813.518524 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 761.018480 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.185776; longitude = -117.690671; captureRadius = 10; duration = 105; initialDepth = 761.018480; finalDepth = 761.490121; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.8225209999999 # Actual altitude: 51.8225209999999 # Commanded vehicle depth:761.01848 # Seafloor depth:-812.426380 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.29; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.73; MB_Bottom_Detect_Filter_Max_Range = 207.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 107.984672 meters # Minimum depth: 810.686120 meters looking forward 100.000000 meters along route # Maximum depth: 812.789331 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 760.686120 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.186089; longitude = -117.689599; captureRadius = 10; duration = 107; initialDepth = 760.686120; finalDepth = 761.018480; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.926962 # Actual altitude: 51.926962 # Commanded vehicle depth:760.68612 # Seafloor depth:-812.613082 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.77; MB_Bottom_Detect_Filter_Max_Range = 207.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 103.590630 meters # Minimum depth: 810.851343 meters looking forward 100.000000 meters along route # Maximum depth: 811.486488 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 760.851343 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.186407; longitude = -117.688504; captureRadius = 10; duration = 103; initialDepth = 760.851343; finalDepth = 760.686120; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.926962 # Actual altitude: 51.926962 # Commanded vehicle depth:760.851343 # Seafloor depth:-811.080912 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.77; MB_Bottom_Detect_Filter_Max_Range = 207.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 105.787124 meters # Minimum depth: 810.430726 meters looking forward 100.000000 meters along route # Maximum depth: 812.086772 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 760.430726 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.186713; longitude = -117.687454; captureRadius = 10; duration = 105; initialDepth = 760.430726; finalDepth = 760.851343; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.229569 # Actual altitude: 50.229569 # Commanded vehicle depth:760.430726 # Seafloor depth:-810.430726 # 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 3 # Segment length 105.786772 meters # Minimum depth: 810.656026 meters looking forward 100.000000 meters along route # Maximum depth: 811.948650 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 760.656026 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.187026; longitude = -117.686382; captureRadius = 10; duration = 105; initialDepth = 760.656026; finalDepth = 760.430726; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9443660000001 # Actual altitude: 50.9443660000001 # Commanded vehicle depth:760.656026 # Seafloor depth:-811.600392 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.78; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.38; MB_Bottom_Detect_Filter_Max_Range = 203.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 105.786422 meters # Minimum depth: 808.648296 meters looking forward 100.000000 meters along route # Maximum depth: 810.366935 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 758.648296 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.187338; longitude = -117.685310; captureRadius = 10; duration = 105; initialDepth = 758.648296; finalDepth = 760.656026; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.7186390000001 # Actual altitude: 51.7186390000001 # Commanded vehicle depth:758.648296 # Seafloor depth:-810.366935 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.87; 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 = 206.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 105.786070 meters # Minimum depth: 809.575141 meters looking forward 100.000000 meters along route # Maximum depth: 810.926260 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 759.575141 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.187650; longitude = -117.684237; captureRadius = 10; duration = 105; initialDepth = 759.575141; finalDepth = 758.648296; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.7186390000001 # Actual altitude: 51.7186390000001 # Commanded vehicle depth:759.575141 # Seafloor depth:-809.575141 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.87; 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 = 206.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 105.785718 meters # Minimum depth: 808.222305 meters looking forward 100.000000 meters along route # Maximum depth: 810.549178 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 758.222305 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.187962; longitude = -117.683165; captureRadius = 10; duration = 105; initialDepth = 758.222305; finalDepth = 759.575141; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.902352 # Actual altitude: 51.902352 # Commanded vehicle depth:758.222305 # Seafloor depth:-810.124657 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.61; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.76; MB_Bottom_Detect_Filter_Max_Range = 207.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 105.785368 meters # Minimum depth: 808.683455 meters looking forward 100.000000 meters along route # Maximum depth: 810.688086 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 758.683455 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.188275; longitude = -117.682093; captureRadius = 10; duration = 105; initialDepth = 758.683455; finalDepth = 758.222305; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.902352 # Actual altitude: 51.902352 # Commanded vehicle depth:758.683455 # Seafloor depth:-809.949428 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.61; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.76; MB_Bottom_Detect_Filter_Max_Range = 207.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 105.785016 meters # Minimum depth: 807.903571 meters looking forward 100.000000 meters along route # Maximum depth: 809.797563 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 757.903571 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.188587; longitude = -117.681021; captureRadius = 10; duration = 105; initialDepth = 757.903571; finalDepth = 758.683455; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.265973 # Actual altitude: 51.265973 # Commanded vehicle depth:757.903571 # Seafloor depth:-808.418447 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.06; 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 = 205.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 105.784666 meters # Minimum depth: 806.661175 meters looking forward 100.000000 meters along route # Maximum depth: 809.056706 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 756.661175 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.188899; longitude = -117.679948; captureRadius = 10; duration = 105; initialDepth = 756.661175; finalDepth = 757.903571; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.514876 # Actual altitude: 50.514876 # Commanded vehicle depth:756.661175 # Seafloor depth:-806.661175 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.06; 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 = 202.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 105.784314 meters # Minimum depth: 806.415071 meters looking forward 100.000000 meters along route # Maximum depth: 809.493197 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 756.415071 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.189212; longitude = -117.678876; captureRadius = 10; duration = 105; initialDepth = 756.415071; finalDepth = 756.661175; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.078126 # Actual altitude: 53.078126 # Commanded vehicle depth:756.415071 # Seafloor depth:-809.493197 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.23; MB_Bottom_Detect_Filter_Max_Range = 212.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 106.647246 meters # Minimum depth: 799.936068 meters looking forward 100.000000 meters along route # Maximum depth: 808.375136 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 749.936068 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.189524; longitude = -117.677804; captureRadius = 10; duration = 106; initialDepth = 749.936068; finalDepth = 756.415071; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.096233 # Actual altitude: 57.096233 # Commanded vehicle depth:749.936068 # Seafloor depth:-807.032301 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 228.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.84; MB_Bottom_Detect_Filter_Max_Range = 228.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 171.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 104.920329 meters # Minimum depth: 802.014272 meters looking forward 100.000000 meters along route # Maximum depth: 805.744436 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 752.014272 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.189839; longitude = -117.676723; captureRadius = 10; duration = 104; initialDepth = 752.014272; finalDepth = 749.936068; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.096233 # Actual altitude: 57.096233 # Commanded vehicle depth:752.014272 # Seafloor depth:-803.619816 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 228.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.84; MB_Bottom_Detect_Filter_Max_Range = 228.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 171.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 105.783260 meters # Minimum depth: 801.907462 meters looking forward 100.000000 meters along route # Maximum depth: 810.851959 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 751.907462 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.190148; longitude = -117.675659; captureRadius = 10; duration = 105; initialDepth = 751.907462; finalDepth = 752.014272; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.176518 # Actual altitude: 54.176518 # Commanded vehicle depth:751.907462 # Seafloor depth:-806.083980 # 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 3 # Segment length 105.782910 meters # Minimum depth: 800.252684 meters looking forward 100.000000 meters along route # Maximum depth: 809.566065 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 750.252684 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.190461; longitude = -117.674587; captureRadius = 10; duration = 105; initialDepth = 750.252684; finalDepth = 751.907462; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.349843 # Actual altitude: 56.349843 # Commanded vehicle depth:750.252684 # Seafloor depth:-806.602527 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 225.40; 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 = 225.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 169.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 102.272826 meters # Minimum depth: 798.023917 meters looking forward 100.000000 meters along route # Maximum depth: 807.401741 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 748.023917 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.190773; longitude = -117.673515; captureRadius = 10; duration = 102; initialDepth = 748.023917; finalDepth = 750.252684; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.349843 # Actual altitude: 56.349843 # Commanded vehicle depth:748.023917 # Seafloor depth:-798.023917 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 225.40; 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 = 225.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 169.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 2 # Segment length 44.403685 meters # Minimum depth: 803.522463 meters looking forward 100.000000 meters along route # Maximum depth: 808.077437 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 753.522463 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.191075; longitude = -117.672478; captureRadius = 10; duration = 44; # abortOnTimeout = True; initialDepth = 753.522463; finalDepth = 748.023917; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.3142829999999 # Actual altitude: 53.3142829999999 # Commanded vehicle depth:753.522463 # Seafloor depth:-806.836746 # 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 2 # Segment length 105.666337 meters # Minimum depth: 793.396612 meters looking forward 100.000000 meters along route # Maximum depth: 811.441241 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.396612 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.190697; longitude = -117.672322; captureRadius = 10; duration = 105; initialDepth = 743.396612; finalDepth = 753.522463; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.264716 # Actual altitude: 60.264716 # Commanded vehicle depth:743.396612 # Seafloor depth:-803.661328 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 241.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.11; MB_Bottom_Detect_Filter_Max_Range = 241.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 180.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 1 # Segment length 27.323668 meters # Minimum depth: 793.396612 meters looking forward 100.000000 meters along route # Maximum depth: 809.728584 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.396612 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.189796; longitude = -117.671951; captureRadius = 10; duration = 27; # abortOnTimeout = True; initialDepth = 743.396612; finalDepth = 743.396612; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.959925 # Actual altitude: 60.959925 # Commanded vehicle depth:743.396612 # Seafloor depth:-804.356537 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 243.84; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.38; MB_Bottom_Detect_Filter_Max_Range = 243.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 182.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.782693 meters # Minimum depth: 794.872840 meters looking forward 100.000000 meters along route # Maximum depth: 810.834200 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 744.872840 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.189715; longitude = -117.672228; captureRadius = 10; duration = 105; initialDepth = 744.872840; finalDepth = 743.396612; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.959925 # Actual altitude: 60.959925 # Commanded vehicle depth:744.87284 # Seafloor depth:-801.913210 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 243.84; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.38; MB_Bottom_Detect_Filter_Max_Range = 243.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 182.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.783044 meters # Minimum depth: 803.795102 meters looking forward 100.000000 meters along route # Maximum depth: 811.355875 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 753.795102 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.189403; longitude = -117.673300; captureRadius = 10; duration = 105; initialDepth = 753.795102; finalDepth = 744.872840; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.5607729999999 # Actual altitude: 57.5607729999999 # Commanded vehicle depth:753.795102 # Seafloor depth:-811.355875 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 230.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.02; MB_Bottom_Detect_Filter_Max_Range = 230.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 172.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.885639 meters # Minimum depth: 800.739289 meters looking forward 100.000000 meters along route # Maximum depth: 812.449042 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 750.739289 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.189091; longitude = -117.674373; captureRadius = 10; duration = 109; initialDepth = 750.739289; finalDepth = 753.795102; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.709753 # Actual altitude: 61.709753 # Commanded vehicle depth:750.739289 # Seafloor depth:-812.449042 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 246.84; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.68; MB_Bottom_Detect_Filter_Max_Range = 246.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 185.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 101.681501 meters # Minimum depth: 803.251989 meters looking forward 100.000000 meters along route # Maximum depth: 809.238249 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 753.251989 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.188766; longitude = -117.675486; captureRadius = 10; duration = 101; initialDepth = 753.251989; finalDepth = 750.739289; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.709753 # Actual altitude: 61.709753 # Commanded vehicle depth:753.251989 # Seafloor depth:-809.238249 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 246.84; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.68; MB_Bottom_Detect_Filter_Max_Range = 246.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 185.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.784097 meters # Minimum depth: 805.974807 meters looking forward 100.000000 meters along route # Maximum depth: 808.795838 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 755.974807 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.188466; longitude = -117.676517; captureRadius = 10; duration = 105; initialDepth = 755.974807; finalDepth = 753.251989; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.98626 # Actual altitude: 55.98626 # Commanded vehicle depth:755.974807 # Seafloor depth:-805.974807 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.95; 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 = 223.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 167.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.784448 meters # Minimum depth: 806.333554 meters looking forward 100.000000 meters along route # Maximum depth: 808.794233 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 756.333554 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.188154; longitude = -117.677589; captureRadius = 10; duration = 105; initialDepth = 756.333554; finalDepth = 755.974807; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.4606789999999 # Actual altitude: 52.4606789999999 # Commanded vehicle depth:756.333554 # Seafloor depth:-808.794233 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.84; 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 = 209.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.784799 meters # Minimum depth: 807.041622 meters looking forward 100.000000 meters along route # Maximum depth: 809.926043 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 757.041622 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.187842; longitude = -117.678662; captureRadius = 10; duration = 105; initialDepth = 757.041622; finalDepth = 756.333554; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.820738 # Actual altitude: 52.820738 # Commanded vehicle depth:757.041622 # Seafloor depth:-809.862360 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.13; MB_Bottom_Detect_Filter_Max_Range = 211.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.785150 meters # Minimum depth: 807.759630 meters looking forward 100.000000 meters along route # Maximum depth: 810.786364 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 757.759630 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.187530; longitude = -117.679734; captureRadius = 10; duration = 105; initialDepth = 757.759630; finalDepth = 757.041622; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.820738 # Actual altitude: 52.820738 # Commanded vehicle depth:757.75963 # Seafloor depth:-809.940163 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.13; MB_Bottom_Detect_Filter_Max_Range = 211.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.785501 meters # Minimum depth: 808.120747 meters looking forward 100.000000 meters along route # Maximum depth: 810.295778 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 758.120747 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.187217; longitude = -117.680806; captureRadius = 10; duration = 105; initialDepth = 758.120747; finalDepth = 757.759630; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.180533 # Actual altitude: 52.180533 # Commanded vehicle depth:758.120747 # Seafloor depth:-808.120747 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.72; 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 = 208.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.785852 meters # Minimum depth: 807.746053 meters looking forward 100.000000 meters along route # Maximum depth: 811.898373 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 757.746053 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.186905; longitude = -117.681878; captureRadius = 10; duration = 105; initialDepth = 757.746053; finalDepth = 758.120747; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.15232 # Actual altitude: 54.15232 # Commanded vehicle depth:757.746053 # Seafloor depth:-811.898373 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.61; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.66; MB_Bottom_Detect_Filter_Max_Range = 216.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.786204 meters # Minimum depth: 807.564421 meters looking forward 100.000000 meters along route # Maximum depth: 810.955237 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 757.564421 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.186593; longitude = -117.682951; captureRadius = 10; duration = 105; initialDepth = 757.564421; finalDepth = 757.746053; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.15232 # Actual altitude: 54.15232 # Commanded vehicle depth:757.564421 # Seafloor depth:-809.846913 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.61; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.66; MB_Bottom_Detect_Filter_Max_Range = 216.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.786554 meters # Minimum depth: 810.281279 meters looking forward 100.000000 meters along route # Maximum depth: 812.001299 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 760.281279 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.186281; longitude = -117.684023; captureRadius = 10; duration = 105; initialDepth = 760.281279; finalDepth = 757.564421; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.2824919999999 # Actual altitude: 52.2824919999999 # Commanded vehicle depth:760.281279 # Seafloor depth:-810.281279 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.13; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.91; MB_Bottom_Detect_Filter_Max_Range = 209.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.786906 meters # Minimum depth: 811.282377 meters looking forward 100.000000 meters along route # Maximum depth: 812.625699 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 761.282377 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.185968; longitude = -117.685095; captureRadius = 10; duration = 105; initialDepth = 761.282377; finalDepth = 760.281279; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.774553 # Actual altitude: 50.774553 # Commanded vehicle depth:761.282377 # Seafloor depth:-812.056930 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.31; MB_Bottom_Detect_Filter_Max_Range = 203.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 108.692639 meters # Minimum depth: 809.542101 meters looking forward 100.000000 meters along route # Maximum depth: 812.345290 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 759.542101 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.185656; longitude = -117.686168; captureRadius = 10; duration = 108; initialDepth = 759.542101; finalDepth = 761.282377; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.803189 # Actual altitude: 52.803189 # Commanded vehicle depth:759.542101 # Seafloor depth:-812.345290 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.21; 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 = 211.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 102.882227 meters # Minimum depth: 809.708843 meters looking forward 100.000000 meters along route # Maximum depth: 811.999840 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 759.708843 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.185335; longitude = -117.687269; captureRadius = 10; duration = 102; initialDepth = 759.708843; finalDepth = 759.542101; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.803189 # Actual altitude: 52.803189 # Commanded vehicle depth:759.708843 # Seafloor depth:-809.708843 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.21; 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 = 211.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.787960 meters # Minimum depth: 811.448737 meters looking forward 100.000000 meters along route # Maximum depth: 812.968589 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 761.448737 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.185032; longitude = -117.688312; captureRadius = 10; duration = 105; initialDepth = 761.448737; finalDepth = 759.708843; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.553511 # Actual altitude: 50.553511 # Commanded vehicle depth:761.448737 # Seafloor depth:-812.002248 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.21; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.22; MB_Bottom_Detect_Filter_Max_Range = 202.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.788311 meters # Minimum depth: 809.520153 meters looking forward 100.000000 meters along route # Maximum depth: 813.611024 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 759.520153 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.184719; longitude = -117.689384; captureRadius = 10; duration = 105; initialDepth = 759.520153; finalDepth = 761.448737; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.6320199999999 # Actual altitude: 53.6320199999999 # Commanded vehicle depth:759.520153 # Seafloor depth:-813.152173 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.53; 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 = 214.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.788662 meters # Minimum depth: 811.176299 meters looking forward 100.000000 meters along route # Maximum depth: 815.391784 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 761.176299 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.184407; longitude = -117.690457; captureRadius = 10; duration = 105; initialDepth = 761.176299; finalDepth = 759.520153; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.6320199999999 # Actual altitude: 53.6320199999999 # Commanded vehicle depth:761.176299 # Seafloor depth:-813.849947 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.53; 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 = 214.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.789014 meters # Minimum depth: 811.820408 meters looking forward 100.000000 meters along route # Maximum depth: 815.954770 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 761.820408 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.184095; longitude = -117.691529; captureRadius = 10; duration = 105; initialDepth = 761.820408; finalDepth = 761.176299; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.7946059999999 # Actual altitude: 52.7946059999999 # Commanded vehicle depth:761.820408 # Seafloor depth:-814.615014 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.18; 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 = 211.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.789365 meters # Minimum depth: 811.917427 meters looking forward 100.000000 meters along route # Maximum depth: 816.992198 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 761.917427 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.183782; longitude = -117.692601; captureRadius = 10; duration = 105; initialDepth = 761.917427; finalDepth = 761.820408; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.7946059999999 # Actual altitude: 52.7946059999999 # Commanded vehicle depth:761.917427 # Seafloor depth:-814.152132 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.18; 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 = 211.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.789717 meters # Minimum depth: 808.664628 meters looking forward 100.000000 meters along route # Maximum depth: 817.560234 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 758.664628 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.183470; longitude = -117.693673; captureRadius = 10; duration = 105; initialDepth = 758.664628; finalDepth = 761.917427; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.727428 # Actual altitude: 56.727428 # Commanded vehicle depth:758.664628 # Seafloor depth:-815.392056 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.91; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.69; MB_Bottom_Detect_Filter_Max_Range = 226.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 170.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.790068 meters # Minimum depth: 813.748662 meters looking forward 100.000000 meters along route # Maximum depth: 820.142763 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 763.748662 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.183158; longitude = -117.694746; captureRadius = 10; duration = 105; initialDepth = 763.748662; finalDepth = 758.664628; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.727428 # Actual altitude: 56.727428 # Commanded vehicle depth:763.748662 # Seafloor depth:-816.159132 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.91; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.69; MB_Bottom_Detect_Filter_Max_Range = 226.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 170.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.790419 meters # Minimum depth: 818.412398 meters looking forward 100.000000 meters along route # Maximum depth: 820.234404 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 768.412398 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.182846; longitude = -117.695818; captureRadius = 10; duration = 105; initialDepth = 768.412398; finalDepth = 763.748662; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.41047 # Actual altitude: 52.41047 # Commanded vehicle depth:768.412398 # Seafloor depth:-819.912232 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.64; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.96; MB_Bottom_Detect_Filter_Max_Range = 209.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.790772 meters # Minimum depth: 819.278327 meters looking forward 100.000000 meters along route # Maximum depth: 820.843129 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 769.278327 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.182533; longitude = -117.696890; captureRadius = 10; duration = 105; initialDepth = 769.278327; finalDepth = 768.412398; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.499834 # Actual altitude: 51.499834 # Commanded vehicle depth:769.278327 # Seafloor depth:-820.289380 # 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 1 # Segment length 107.499553 meters # Minimum depth: 819.770173 meters looking forward 100.000000 meters along route # Maximum depth: 822.977557 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 769.770173 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.182221; longitude = -117.697963; captureRadius = 10; duration = 107; initialDepth = 769.770173; finalDepth = 769.278327; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.0110530000001 # Actual altitude: 51.0110530000001 # Commanded vehicle depth:769.770173 # Seafloor depth:-819.770173 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.40; MB_Bottom_Detect_Filter_Max_Range = 204.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 104.083043 meters # Minimum depth: 821.733650 meters looking forward 100.000000 meters along route # Maximum depth: 822.927677 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 771.733650 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.181904; longitude = -117.699052; captureRadius = 10; duration = 104; initialDepth = 771.733650; finalDepth = 769.770173; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.194027 # Actual altitude: 51.194027 # Commanded vehicle depth:771.73365 # Seafloor depth:-822.927677 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.78; 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 = 204.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.791826 meters # Minimum depth: 821.627986 meters looking forward 100.000000 meters along route # Maximum depth: 821.686087 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 771.627986 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.181597; longitude = -117.700107; captureRadius = 10; duration = 105; initialDepth = 771.627986; finalDepth = 771.733650; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.194027 # Actual altitude: 51.194027 # Commanded vehicle depth:771.627986 # Seafloor depth:-821.686087 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.78; 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 = 204.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.792177 meters # Minimum depth: 821.680914 meters looking forward 100.000000 meters along route # Maximum depth: 821.833032 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 771.680914 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.181284; longitude = -117.701179; captureRadius = 10; duration = 105; initialDepth = 771.680914; finalDepth = 771.627986; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.0581010000001 # Actual altitude: 50.0581010000001 # Commanded vehicle depth:771.680914 # Seafloor depth:-821.680914 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.23; 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 = 200.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.792529 meters # Minimum depth: 821.861798 meters looking forward 100.000000 meters along route # Maximum depth: 821.915518 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 771.861798 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.180972; longitude = -117.702252; captureRadius = 10; duration = 105; initialDepth = 771.861798; finalDepth = 771.680914; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:771.861798 # Seafloor depth:-821.861798 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.792880 meters # Minimum depth: 821.832823 meters looking forward 100.000000 meters along route # Maximum depth: 821.911848 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 771.832823 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.180660; longitude = -117.703324; captureRadius = 10; duration = 105; initialDepth = 771.832823; finalDepth = 771.861798; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.079025 # Actual altitude: 50.079025 # Commanded vehicle depth:771.832823 # Seafloor depth:-821.911848 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.32; 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 = 200.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.793232 meters # Minimum depth: 821.641404 meters looking forward 100.000000 meters along route # Maximum depth: 821.805296 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 771.641404 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.180348; longitude = -117.704396; captureRadius = 10; duration = 105; initialDepth = 771.641404; finalDepth = 771.832823; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.163892 # Actual altitude: 50.163892 # Commanded vehicle depth:771.641404 # Seafloor depth:-821.805296 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.07; MB_Bottom_Detect_Filter_Max_Range = 200.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.793584 meters # Minimum depth: 821.358112 meters looking forward 100.000000 meters along route # Maximum depth: 821.593402 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 771.358112 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.180035; longitude = -117.705468; captureRadius = 10; duration = 105; initialDepth = 771.358112; finalDepth = 771.641404; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.23529 # Actual altitude: 50.23529 # Commanded vehicle depth:771.358112 # Seafloor depth:-821.593402 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.94; 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 = 200.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.793936 meters # Minimum depth: 821.087033 meters looking forward 100.000000 meters along route # Maximum depth: 821.325224 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 771.087033 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.179723; longitude = -117.706541; captureRadius = 10; duration = 105; initialDepth = 771.087033; finalDepth = 771.358112; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.238191 # Actual altitude: 50.238191 # Commanded vehicle depth:771.087033 # Seafloor depth:-821.325224 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.95; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.10; MB_Bottom_Detect_Filter_Max_Range = 200.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.794287 meters # Minimum depth: 820.721527 meters looking forward 100.000000 meters along route # Maximum depth: 821.025301 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 770.721527 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.179411; longitude = -117.707613; captureRadius = 10; duration = 105; initialDepth = 770.721527; finalDepth = 771.087033; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.303774 # Actual altitude: 50.303774 # Commanded vehicle depth:770.721527 # Seafloor depth:-821.025301 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.22; 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 = 201.22; 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 1 # Segment length 100.513870 meters # Minimum depth: 820.431187 meters looking forward 100.000000 meters along route # Maximum depth: 820.703195 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 770.431187 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.179099; longitude = -117.708685; captureRadius = 10; duration = 100; initialDepth = 770.431187; finalDepth = 770.721527; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.303774 # Actual altitude: 50.303774 # Commanded vehicle depth:770.431187 # Seafloor depth:-820.703195 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.22; 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 = 201.22; 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; } # ####################################################### ####################################################### # ####################################################### # Turn Mapping sonars on and start logging. # behavior reson { duration = 6; Log_Mode = 1; } # Set sonar parameters # Commanded altitude: 50.272008 # Actual altitude: 50.272008 # Commanded vehicle depth:770.396057 # Seafloor depth:-820.396057 # 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 = 201.09; 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 = 201.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; Snippet_Mode = 0; Window_Size = 0; Log_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint behavior to get back to start of line 1 # Segment length 500.000000 meters # Minimum depth: 820.396057 meters looking forward 100.000000 meters along route # Maximum depth: 820.636421 meters looking forward 100.000000 meters along route # Vehicle depth: 770.396057 meters behavior waypoint { latitude = 33.178802; longitude = -117.709704; captureRadius = 10; duration = 500; depth = 770.396057; speed = 1.500000; } behavior setpoint { duration = 180; heading = 270.0; speed = 0.0; verticalMode = pitch; pitch = 0; } # # Spiral descend behavior to get to proper depth at start of line 1 # Behavior depth of 770.396057 meters set by local depth and desired altitude behavior descend { duration = 2360; horizontalMode = rudder; horizontal = 3.000000; pitch = -30.000000; speed = 1.500000; minAltitude = 50.000000; } # # Waypoint behavior to get to start of line 1 # Segment length 500.000000 meters # Minimum depth: 820.396057 meters looking forward 100.000000 meters along route # Maximum depth: 820.636421 meters looking forward 100.000000 meters along route # Vehicle depth: 50.000000 meters behavior waypoint { latitude = 33.178802; longitude = -117.709704; captureRadius = 10; duration = 500; depth = 50.000000; speed = 1.500000; } ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 256.0; 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 = 256.0; speed = 1.500000; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = 600; minHits = 15; 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; } # ####################################################### #######################################################