# 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: BOB02Survey.rte # Mission File: BOB02Survey.cfg # Distance: 28612.998548 (m) # Estimated Time: 25869 (s) 7.186 (hr) # Abort Time: 25200 (s) # Max battery life: 30600 (s) # Safety margin: 3600 (s) # Ascend time: 5953 (s) # Way Points: 29 # Route Points: 260 # Mapping sonar control enabled: # # Mission Parameters: # Desired Vehicle Altitude: 40 (m) # Minimum Vehicle Altitude: 50 (m) # Abort Vehicle Altitude: 20 (m) # Maximum Vehicle Depth: 3000 (m) # Abort Vehicle Depth: 3050 (m) # Descent Vehicle Depth: 3 (m) # Forward Looking Distance: 200 (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 -120.932689 33.813743 -2157.026855 0.000000 3 # 1 -120.981525 33.795343 -2883.736328 4961.434852 1 # 2 -120.981794 33.782493 -2889.429749 6386.980231 4 # 3 -120.983413 33.782518 -2890.250977 6536.980231 3 # 4 -120.983124 33.795326 -2882.187012 7957.851659 4 # 5 -120.984744 33.795351 -2877.435120 8107.851659 3 # 6 -120.985032 33.782544 -2886.363647 9528.723087 4 # 7 -120.986651 33.782569 -2887.612305 9678.723087 3 # 8 -120.986363 33.795377 -2874.662537 11099.594515 4 # 9 -120.987983 33.795402 -2873.699463 11249.594515 3 # 10 -120.988271 33.782595 -2885.023193 12670.465942 4 # 11 -120.989890 33.782620 -2888.532288 12820.465942 3 # 12 -120.989602 33.795427 -2874.091980 14241.337370 4 # 13 -120.991222 33.795453 -2874.636475 14391.337370 3 # 14 -120.991509 33.782645 -2890.168762 15812.208798 4 # 15 -120.993128 33.782671 -2886.930420 15962.208798 3 # 16 -120.992841 33.795478 -2881.243042 17383.080226 4 # 17 -120.994461 33.795503 -2881.142517 17533.080226 3 # 18 -120.994747 33.782696 -2888.565796 18953.951654 4 # 19 -120.996367 33.782721 -2887.880493 19103.951654 3 # 20 -120.996080 33.795529 -2890.172913 20524.823082 4 # 21 -120.998156 33.792999 -2900.297485 20864.971366 3 # 22 -120.979545 33.792707 -2888.569885 22588.847447 4 # 23 -120.979602 33.790146 -2893.725037 22873.021733 3 # 24 -120.998213 33.790437 -2899.133484 24596.897814 4 # 25 -120.998270 33.787876 -2895.990723 24881.072100 3 # 26 -120.979660 33.787584 -2888.803223 26604.948181 4 # 27 -120.979718 33.785023 -2891.232117 26889.122467 3 # 28 -120.998327 33.785314 -2893.471558 28612.998548 4 # # A total of 260 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 25200; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 3000.000000; abortDepth = 3050.000000; minAltitude = 50.000000; abortAltitude = 20.000000; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = 600; minHits = 30; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 5953; 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 28 # Segment length 50.108607 meters # Minimum depth: 2892.299166 meters looking forward 200.000000 meters along route # Maximum depth: 2893.471558 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2852.299166 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.785314; longitude = -120.998327; captureRadius = 10; duration = 50; initialDepth = 2852.299166; finalDepth = 2852.299166; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.1723920000004 # Actual altitude: 50 # Commanded vehicle depth:2852.299166 # Seafloor depth:-2893.471558 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 119.974833 meters # Minimum depth: 2886.090555 meters looking forward 200.000000 meters along route # Maximum depth: 2893.471558 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2846.090555 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.785306; longitude = -120.997786; captureRadius = 10; duration = 119; initialDepth = 2846.090555; finalDepth = 2852.299166; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.3640349999996 # Actual altitude: 50 # Commanded vehicle depth:2846.090555 # Seafloor depth:-2891.454590 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 119.974927 meters # Minimum depth: 2885.510881 meters looking forward 200.000000 meters along route # Maximum depth: 2889.576240 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2845.510881 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.785285; longitude = -120.996491; captureRadius = 10; duration = 119; initialDepth = 2845.510881; finalDepth = 2846.090555; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.3640349999996 # Actual altitude: 50 # Commanded vehicle depth:2845.510881 # Seafloor depth:-2885.510881 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 119.975021 meters # Minimum depth: 2883.203749 meters looking forward 200.000000 meters along route # Maximum depth: 2887.108831 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2843.203749 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.785265; longitude = -120.995196; captureRadius = 10; duration = 119; initialDepth = 2843.203749; finalDepth = 2845.510881; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.6536820000001 # Actual altitude: 50 # Commanded vehicle depth:2843.203749 # Seafloor depth:-2886.857431 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 119.975115 meters # Minimum depth: 2882.502118 meters looking forward 200.000000 meters along route # Maximum depth: 2885.160126 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2842.502118 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.785245; longitude = -120.993901; captureRadius = 10; duration = 119; initialDepth = 2842.502118; finalDepth = 2843.203749; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.6536820000001 # Actual altitude: 50 # Commanded vehicle depth:2842.502118 # Seafloor depth:-2882.782454 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 119.975209 meters # Minimum depth: 2882.023332 meters looking forward 200.000000 meters along route # Maximum depth: 2882.755374 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2842.023332 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.785225; longitude = -120.992606; captureRadius = 10; duration = 119; initialDepth = 2842.023332; finalDepth = 2842.502118; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.2803360000003 # Actual altitude: 50 # Commanded vehicle depth:2842.023332 # Seafloor depth:-2882.225642 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 119.975304 meters # Minimum depth: 2881.817917 meters looking forward 200.000000 meters along route # Maximum depth: 2882.825025 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2841.817917 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.785204; longitude = -120.991311; captureRadius = 10; duration = 119; initialDepth = 2841.817917; finalDepth = 2842.023332; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.2023099999997 # Actual altitude: 50 # Commanded vehicle depth:2841.817917 # Seafloor depth:-2881.894283 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 119.975398 meters # Minimum depth: 2880.193383 meters looking forward 200.000000 meters along route # Maximum depth: 2882.825025 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2840.193383 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.785184; longitude = -120.990016; captureRadius = 10; duration = 119; initialDepth = 2840.193383; finalDepth = 2841.817917; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.6591560000002 # Actual altitude: 50 # Commanded vehicle depth:2840.193383 # Seafloor depth:-2881.852539 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 119.975493 meters # Minimum depth: 2880.193383 meters looking forward 200.000000 meters along route # Maximum depth: 2883.903445 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2840.193383 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.785164; longitude = -120.988721; captureRadius = 10; duration = 119; initialDepth = 2840.193383; finalDepth = 2840.193383; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.5610510000001 # Actual altitude: 50 # Commanded vehicle depth:2840.193383 # Seafloor depth:-2882.754434 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 119.975586 meters # Minimum depth: 2881.003600 meters looking forward 200.000000 meters along route # Maximum depth: 2883.903445 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2841.003600 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.785143; longitude = -120.987425; captureRadius = 10; duration = 119; initialDepth = 2841.003600; finalDepth = 2840.193383; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.5610510000001 # Actual altitude: 50 # Commanded vehicle depth:2841.0036 # Seafloor depth:-2881.003600 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 119.975682 meters # Minimum depth: 2881.109121 meters looking forward 200.000000 meters along route # Maximum depth: 2882.453370 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2841.109121 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.785123; longitude = -120.986130; captureRadius = 10; duration = 119; initialDepth = 2841.109121; finalDepth = 2841.003600; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.0569140000002 # Actual altitude: 50 # Commanded vehicle depth:2841.109121 # Seafloor depth:-2881.166035 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 119.975776 meters # Minimum depth: 2879.522942 meters looking forward 200.000000 meters along route # Maximum depth: 2882.453370 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2839.522942 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.785103; longitude = -120.984835; captureRadius = 10; duration = 119; initialDepth = 2839.522942; finalDepth = 2841.109121; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.2618509999998 # Actual altitude: 50 # Commanded vehicle depth:2839.522942 # Seafloor depth:-2880.784793 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 119.975870 meters # Minimum depth: 2879.522942 meters looking forward 200.000000 meters along route # Maximum depth: 2883.218595 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2839.522942 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.785083; longitude = -120.983540; captureRadius = 10; duration = 119; initialDepth = 2839.522942; finalDepth = 2839.522942; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.0859230000001 # Actual altitude: 50 # Commanded vehicle depth:2839.522942 # Seafloor depth:-2882.608865 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 119.975965 meters # Minimum depth: 2882.176748 meters looking forward 200.000000 meters along route # Maximum depth: 2886.501137 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2842.176748 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.785062; longitude = -120.982245; captureRadius = 10; duration = 119; initialDepth = 2842.176748; finalDepth = 2839.522942; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.0859230000001 # Actual altitude: 50 # Commanded vehicle depth:2842.176748 # Seafloor depth:-2882.492572 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 114.087295 meters # Minimum depth: 2884.343416 meters looking forward 200.000000 meters along route # Maximum depth: 2890.610232 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2844.343416 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.785042; longitude = -120.980950; captureRadius = 10; duration = 114; initialDepth = 2844.343416; finalDepth = 2842.176748; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.6648619999996 # Actual altitude: 50 # Commanded vehicle depth:2844.343416 # Seafloor depth:-2887.008278 # 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 27 # Segment length 59.314289 meters # Minimum depth: 2886.501137 meters looking forward 200.000000 meters along route # Maximum depth: 2891.927170 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2846.501137 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.785023; longitude = -120.979718; captureRadius = 10; duration = 59; initialDepth = 2846.501137; finalDepth = 2844.343416; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.7309799999998 # Actual altitude: 50 # Commanded vehicle depth:2846.501137 # Seafloor depth:-2891.232117 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 119.736974 meters # Minimum depth: 2886.512124 meters looking forward 200.000000 meters along route # Maximum depth: 2891.956214 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2846.512124 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.785557; longitude = -120.979706; captureRadius = 10; duration = 119; initialDepth = 2846.512124; finalDepth = 2846.501137; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.44409 # Actual altitude: 50 # Commanded vehicle depth:2846.512124 # Seafloor depth:-2891.956214 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 105.123023 meters # Minimum depth: 2885.863775 meters looking forward 200.000000 meters along route # Maximum depth: 2889.394705 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2845.863775 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.786637; longitude = -120.979682; captureRadius = 10; duration = 105; initialDepth = 2845.863775; finalDepth = 2846.512124; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.44409 # Actual altitude: 50 # Commanded vehicle depth:2845.863775 # Seafloor depth:-2885.863775 # 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 26 # Segment length 59.454725 meters # Minimum depth: 2885.863775 meters looking forward 200.000000 meters along route # Maximum depth: 2888.911428 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2845.863775 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.787584; longitude = -120.979660; captureRadius = 10; duration = 59; initialDepth = 2845.863775; finalDepth = 2845.863775; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.9394480000001 # Actual altitude: 50 # Commanded vehicle depth:2845.863775 # Seafloor depth:-2888.803223 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 119.972440 meters # Minimum depth: 2885.736180 meters looking forward 200.000000 meters along route # Maximum depth: 2888.911428 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2845.736180 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.787594; longitude = -120.980302; captureRadius = 10; duration = 119; initialDepth = 2845.736180; finalDepth = 2845.863775; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.9394480000001 # Actual altitude: 50 # Commanded vehicle depth:2845.73618 # Seafloor depth:-2887.953045 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 119.972345 meters # Minimum depth: 2881.667206 meters looking forward 200.000000 meters along route # Maximum depth: 2887.489787 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2841.667206 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.787615; longitude = -120.981597; captureRadius = 10; duration = 119; initialDepth = 2841.667206; finalDepth = 2845.736180; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.638625 # Actual altitude: 50 # Commanded vehicle depth:2841.667206 # Seafloor depth:-2884.305831 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 119.972251 meters # Minimum depth: 2878.292450 meters looking forward 200.000000 meters along route # Maximum depth: 2882.687433 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2838.292450 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.787635; longitude = -120.982892; captureRadius = 10; duration = 119; initialDepth = 2838.292450; finalDepth = 2841.667206; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.9760770000003 # Actual altitude: 50 # Commanded vehicle depth:2838.29245 # Seafloor depth:-2881.268527 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 119.972156 meters # Minimum depth: 2877.174801 meters looking forward 200.000000 meters along route # Maximum depth: 2880.086600 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2837.174801 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.787655; longitude = -120.984188; captureRadius = 10; duration = 119; initialDepth = 2837.174801; finalDepth = 2838.292450; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.9760770000003 # Actual altitude: 50 # Commanded vehicle depth:2837.174801 # Seafloor depth:-2878.029637 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 119.972062 meters # Minimum depth: 2874.380822 meters looking forward 200.000000 meters along route # Maximum depth: 2877.816149 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2834.380822 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.787675; longitude = -120.985483; captureRadius = 10; duration = 119; initialDepth = 2834.380822; finalDepth = 2837.174801; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.6476769999999 # Actual altitude: 50 # Commanded vehicle depth:2834.380822 # Seafloor depth:-2876.028499 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 119.971967 meters # Minimum depth: 2874.380822 meters looking forward 200.000000 meters along route # Maximum depth: 2880.885511 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2834.380822 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.787696; longitude = -120.986778; captureRadius = 10; duration = 119; initialDepth = 2834.380822; finalDepth = 2834.380822; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.852856 # Actual altitude: 50 # Commanded vehicle depth:2834.380822 # Seafloor depth:-2879.233678 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 119.971873 meters # Minimum depth: 2877.851112 meters looking forward 200.000000 meters along route # Maximum depth: 2880.885511 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2837.851112 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.787716; longitude = -120.988073; captureRadius = 10; duration = 119; initialDepth = 2837.851112; finalDepth = 2834.380822; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.852856 # Actual altitude: 50 # Commanded vehicle depth:2837.851112 # Seafloor depth:-2880.484719 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 119.971779 meters # Minimum depth: 2876.794720 meters looking forward 200.000000 meters along route # Maximum depth: 2878.694994 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2836.794720 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.787736; longitude = -120.989368; captureRadius = 10; duration = 119; initialDepth = 2836.794720; finalDepth = 2837.851112; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.6336070000002 # Actual altitude: 50 # Commanded vehicle depth:2836.79472 # Seafloor depth:-2877.767341 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 119.971684 meters # Minimum depth: 2876.794720 meters looking forward 200.000000 meters along route # Maximum depth: 2878.984116 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2836.794720 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.787757; longitude = -120.990663; captureRadius = 10; duration = 119; initialDepth = 2836.794720; finalDepth = 2836.794720; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.9726210000003 # Actual altitude: 50 # Commanded vehicle depth:2836.79472 # Seafloor depth:-2876.855053 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 119.971590 meters # Minimum depth: 2877.554772 meters looking forward 200.000000 meters along route # Maximum depth: 2881.523757 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2837.554772 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.787777; longitude = -120.991958; captureRadius = 10; duration = 119; initialDepth = 2837.554772; finalDepth = 2836.794720; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.8168209999999 # Actual altitude: 50 # Commanded vehicle depth:2837.554772 # Seafloor depth:-2879.371593 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 119.971496 meters # Minimum depth: 2880.488774 meters looking forward 200.000000 meters along route # Maximum depth: 2883.028841 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2840.488774 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.787797; longitude = -120.993253; captureRadius = 10; duration = 119; initialDepth = 2840.488774; finalDepth = 2837.554772; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.8168209999999 # Actual altitude: 50 # Commanded vehicle depth:2840.488774 # Seafloor depth:-2881.428717 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 119.971402 meters # Minimum depth: 2881.145396 meters looking forward 200.000000 meters along route # Maximum depth: 2887.565209 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2841.145396 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.787817; longitude = -120.994549; captureRadius = 10; duration = 119; initialDepth = 2841.145396; finalDepth = 2840.488774; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.1156430000001 # Actual altitude: 50 # Commanded vehicle depth:2841.145396 # Seafloor depth:-2884.261039 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 119.971307 meters # Minimum depth: 2886.261919 meters looking forward 200.000000 meters along route # Maximum depth: 2890.277558 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2846.261919 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.787838; longitude = -120.995844; captureRadius = 10; duration = 119; initialDepth = 2846.261919; finalDepth = 2841.145396; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.1156430000001 # Actual altitude: 50 # Commanded vehicle depth:2846.261919 # Seafloor depth:-2887.676031 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 104.787004 meters # Minimum depth: 2887.838165 meters looking forward 200.000000 meters along route # Maximum depth: 2895.299746 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2847.838165 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.787858; longitude = -120.997139; captureRadius = 10; duration = 104; initialDepth = 2847.838165; finalDepth = 2846.261919; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.8427859999997 # Actual altitude: 50 # Commanded vehicle depth:2847.838165 # Seafloor depth:-2891.680951 # 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 25 # Segment length 54.111659 meters # Minimum depth: 2889.055381 meters looking forward 200.000000 meters along route # Maximum depth: 2895.990723 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2849.055381 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.787876; longitude = -120.998270; captureRadius = 10; duration = 54; initialDepth = 2849.055381; finalDepth = 2847.838165; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.9353419999998 # Actual altitude: 50 # Commanded vehicle depth:2849.055381 # Seafloor depth:-2895.990723 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 119.735679 meters # Minimum depth: 2894.525820 meters looking forward 200.000000 meters along route # Maximum depth: 2898.887227 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2854.525820 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.788363; longitude = -120.998259; captureRadius = 10; duration = 119; initialDepth = 2854.525820; finalDepth = 2849.055381; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.9353419999998 # Actual altitude: 50 # Commanded vehicle depth:2854.52582 # Seafloor depth:-2895.327601 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 110.326948 meters # Minimum depth: 2897.724679 meters looking forward 200.000000 meters along route # Maximum depth: 2899.853086 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2857.724679 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.789443; longitude = -120.998235; captureRadius = 10; duration = 110; initialDepth = 2857.724679; finalDepth = 2854.525820; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.3093730000001 # Actual altitude: 50 # Commanded vehicle depth:2857.724679 # Seafloor depth:-2899.034052 # 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 24 # Segment length 59.488402 meters # Minimum depth: 2897.756063 meters looking forward 200.000000 meters along route # Maximum depth: 2899.853086 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2857.756063 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790437; longitude = -120.998213; captureRadius = 10; duration = 59; initialDepth = 2857.756063; finalDepth = 2857.724679; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.3774210000001 # Actual altitude: 50 # Commanded vehicle depth:2857.756063 # Seafloor depth:-2899.133484 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 119.967704 meters # Minimum depth: 2889.819256 meters looking forward 200.000000 meters along route # Maximum depth: 2899.853086 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2849.819256 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790427; longitude = -120.997571; captureRadius = 10; duration = 119; initialDepth = 2849.819256; finalDepth = 2857.756063; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.3023509999998 # Actual altitude: 50 # Commanded vehicle depth:2849.819256 # Seafloor depth:-2897.121607 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 119.967798 meters # Minimum depth: 2885.340590 meters looking forward 200.000000 meters along route # Maximum depth: 2894.475496 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2845.340590 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790407; longitude = -120.996275; captureRadius = 10; duration = 119; initialDepth = 2845.340590; finalDepth = 2849.819256; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.3023509999998 # Actual altitude: 50 # Commanded vehicle depth:2845.34059 # Seafloor depth:-2888.893961 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 119.967892 meters # Minimum depth: 2881.148672 meters looking forward 200.000000 meters along route # Maximum depth: 2887.793214 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2841.148672 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790387; longitude = -120.994980; captureRadius = 10; duration = 119; initialDepth = 2841.148672; finalDepth = 2845.340590; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.5533710000004 # Actual altitude: 50 # Commanded vehicle depth:2841.148672 # Seafloor depth:-2884.360525 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 119.967986 meters # Minimum depth: 2876.116984 meters looking forward 200.000000 meters along route # Maximum depth: 2882.717776 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2836.116984 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790366; longitude = -120.993685; captureRadius = 10; duration = 119; initialDepth = 2836.116984; finalDepth = 2841.148672; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.8775840000003 # Actual altitude: 50 # Commanded vehicle depth:2836.116984 # Seafloor depth:-2880.994568 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 119.968080 meters # Minimum depth: 2875.983936 meters looking forward 200.000000 meters along route # Maximum depth: 2879.686782 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2835.983936 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790346; longitude = -120.992390; captureRadius = 10; duration = 119; initialDepth = 2835.983936; finalDepth = 2836.116984; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.8775840000003 # Actual altitude: 50 # Commanded vehicle depth:2835.983936 # Seafloor depth:-2875.983936 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 119.968175 meters # Minimum depth: 2877.132137 meters looking forward 200.000000 meters along route # Maximum depth: 2879.818626 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2837.132137 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790326; longitude = -120.991095; captureRadius = 10; duration = 119; initialDepth = 2837.132137; finalDepth = 2835.983936; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.8907639999998 # Actual altitude: 50 # Commanded vehicle depth:2837.132137 # Seafloor depth:-2878.022901 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 119.968269 meters # Minimum depth: 2877.238951 meters looking forward 200.000000 meters along route # Maximum depth: 2880.894629 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2837.238951 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790305; longitude = -120.989800; captureRadius = 10; duration = 119; initialDepth = 2837.238951; finalDepth = 2837.132137; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.8946850000002 # Actual altitude: 50 # Commanded vehicle depth:2837.238951 # Seafloor depth:-2880.133636 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 119.968363 meters # Minimum depth: 2876.428195 meters looking forward 200.000000 meters along route # Maximum depth: 2880.771911 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2836.428195 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790285; longitude = -120.988505; captureRadius = 10; duration = 119; initialDepth = 2836.428195; finalDepth = 2837.238951; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.8946850000002 # Actual altitude: 50 # Commanded vehicle depth:2836.428195 # Seafloor depth:-2877.445651 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 119.968458 meters # Minimum depth: 2876.428195 meters looking forward 200.000000 meters along route # Maximum depth: 2878.173927 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2836.428195 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790265; longitude = -120.987210; captureRadius = 10; duration = 119; initialDepth = 2836.428195; finalDepth = 2836.428195; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.017456 # Actual altitude: 50 # Commanded vehicle depth:2836.428195 # Seafloor depth:-2876.584709 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 119.968552 meters # Minimum depth: 2877.301312 meters looking forward 200.000000 meters along route # Maximum depth: 2878.896772 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2837.301312 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790245; longitude = -120.985914; captureRadius = 10; duration = 119; initialDepth = 2837.301312; finalDepth = 2836.428195; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.2452929999999 # Actual altitude: 50 # Commanded vehicle depth:2837.301312 # Seafloor depth:-2878.546605 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 119.968647 meters # Minimum depth: 2878.579273 meters looking forward 200.000000 meters along route # Maximum depth: 2880.524658 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2838.579273 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790224; longitude = -120.984619; captureRadius = 10; duration = 119; initialDepth = 2838.579273; finalDepth = 2837.301312; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.2452929999999 # Actual altitude: 50 # Commanded vehicle depth:2838.579273 # Seafloor depth:-2878.676692 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 119.968741 meters # Minimum depth: 2879.225051 meters looking forward 200.000000 meters along route # Maximum depth: 2882.941154 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2839.225051 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790204; longitude = -120.983324; captureRadius = 10; duration = 119; initialDepth = 2839.225051; finalDepth = 2838.579273; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.7735320000002 # Actual altitude: 50 # Commanded vehicle depth:2839.225051 # Seafloor depth:-2880.998583 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 119.968836 meters # Minimum depth: 2882.498147 meters looking forward 200.000000 meters along route # Maximum depth: 2888.042266 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2842.498147 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790184; longitude = -120.982029; captureRadius = 10; duration = 119; initialDepth = 2842.498147; finalDepth = 2839.225051; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.7735320000002 # Actual altitude: 50 # Commanded vehicle depth:2842.498147 # Seafloor depth:-2883.148391 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 104.800178 meters # Minimum depth: 2884.384091 meters looking forward 200.000000 meters along route # Maximum depth: 2893.234385 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2844.384091 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790163; longitude = -120.980734; captureRadius = 10; duration = 104; initialDepth = 2844.384091; finalDepth = 2842.498147; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.058595 # Actual altitude: 50 # Commanded vehicle depth:2844.384091 # Seafloor depth:-2888.442686 # 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 23 # Segment length 41.755984 meters # Minimum depth: 2886.798447 meters looking forward 200.000000 meters along route # Maximum depth: 2893.725037 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2846.798447 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790146; longitude = -120.979602; captureRadius = 10; duration = 41; initialDepth = 2846.798447; finalDepth = 2844.384091; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.92659 # Actual altitude: 50 # Commanded vehicle depth:2846.798447 # Seafloor depth:-2893.725037 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 119.737079 meters # Minimum depth: 2890.948015 meters looking forward 200.000000 meters along route # Maximum depth: 2893.725037 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2850.948015 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790522; longitude = -120.979594; captureRadius = 10; duration = 119; initialDepth = 2850.948015; finalDepth = 2846.798447; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.92659 # Actual altitude: 50 # Commanded vehicle depth:2850.948015 # Seafloor depth:-2892.770769 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 122.681223 meters # Minimum depth: 2889.110302 meters looking forward 200.000000 meters along route # Maximum depth: 2892.679234 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2849.110302 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.791601; longitude = -120.979570; captureRadius = 10; duration = 122; initialDepth = 2849.110302; finalDepth = 2850.948015; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.7605170000002 # Actual altitude: 50 # Commanded vehicle depth:2849.110302 # Seafloor depth:-2891.870819 # 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 22 # Segment length 50.172511 meters # Minimum depth: 2888.471661 meters looking forward 200.000000 meters along route # Maximum depth: 2892.679234 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2848.471661 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792707; longitude = -120.979545; captureRadius = 10; duration = 50; initialDepth = 2848.471661; finalDepth = 2849.110302; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.7605170000002 # Actual altitude: 50 # Commanded vehicle depth:2848.471661 # Seafloor depth:-2888.569885 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 119.965311 meters # Minimum depth: 2887.181053 meters looking forward 200.000000 meters along route # Maximum depth: 2890.293315 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2847.181053 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792716; longitude = -120.980086; captureRadius = 10; duration = 119; initialDepth = 2847.181053; finalDepth = 2848.471661; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.1101170000002 # Actual altitude: 50 # Commanded vehicle depth:2847.181053 # Seafloor depth:-2888.291170 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 119.965216 meters # Minimum depth: 2883.483574 meters looking forward 200.000000 meters along route # Maximum depth: 2887.602763 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2843.483574 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792736; longitude = -120.981381; captureRadius = 10; duration = 119; initialDepth = 2843.483574; finalDepth = 2847.181053; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.5532560000001 # Actual altitude: 50 # Commanded vehicle depth:2843.483574 # Seafloor depth:-2887.036830 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 119.965121 meters # Minimum depth: 2873.955742 meters looking forward 200.000000 meters along route # Maximum depth: 2886.061944 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2833.955742 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792756; longitude = -120.982677; captureRadius = 10; duration = 119; initialDepth = 2833.955742; finalDepth = 2843.483574; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.4634430000001 # Actual altitude: 50 # Commanded vehicle depth:2833.955742 # Seafloor depth:-2880.419185 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 119.965027 meters # Minimum depth: 2873.955742 meters looking forward 200.000000 meters along route # Maximum depth: 2881.147718 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2833.955742 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792776; longitude = -120.983972; captureRadius = 10; duration = 119; initialDepth = 2833.955742; finalDepth = 2833.955742; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.4634430000001 # Actual altitude: 50 # Commanded vehicle depth:2833.955742 # Seafloor depth:-2880.246194 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 119.964932 meters # Minimum depth: 2876.470747 meters looking forward 200.000000 meters along route # Maximum depth: 2880.747753 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2836.470747 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792797; longitude = -120.985267; captureRadius = 10; duration = 119; initialDepth = 2836.470747; finalDepth = 2833.955742; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.2904519999997 # Actual altitude: 50 # Commanded vehicle depth:2836.470747 # Seafloor depth:-2879.057366 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 119.964838 meters # Minimum depth: 2874.650488 meters looking forward 200.000000 meters along route # Maximum depth: 2878.225100 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2834.650488 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792817; longitude = -120.986562; captureRadius = 10; duration = 119; initialDepth = 2834.650488; finalDepth = 2836.470747; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.5866190000002 # Actual altitude: 50 # Commanded vehicle depth:2834.650488 # Seafloor depth:-2875.695058 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 119.964743 meters # Minimum depth: 2874.432462 meters looking forward 200.000000 meters along route # Maximum depth: 2875.356329 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2834.432462 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792837; longitude = -120.987857; captureRadius = 10; duration = 119; initialDepth = 2834.432462; finalDepth = 2834.650488; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.0445699999996 # Actual altitude: 50 # Commanded vehicle depth:2834.432462 # Seafloor depth:-2875.280019 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 119.964649 meters # Minimum depth: 2873.014894 meters looking forward 200.000000 meters along route # Maximum depth: 2875.221098 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2833.014894 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792858; longitude = -120.989152; captureRadius = 10; duration = 119; initialDepth = 2833.014894; finalDepth = 2834.432462; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.1257700000001 # Actual altitude: 50 # Commanded vehicle depth:2833.014894 # Seafloor depth:-2874.140664 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 119.964555 meters # Minimum depth: 2873.014894 meters looking forward 200.000000 meters along route # Maximum depth: 2876.988935 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2833.014894 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792878; longitude = -120.990447; captureRadius = 10; duration = 119; initialDepth = 2833.014894; finalDepth = 2833.014894; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.1257700000001 # Actual altitude: 50 # Commanded vehicle depth:2833.014894 # Seafloor depth:-2873.813336 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 119.964461 meters # Minimum depth: 2874.597191 meters looking forward 200.000000 meters along route # Maximum depth: 2880.349922 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2834.597191 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792898; longitude = -120.991742; captureRadius = 10; duration = 119; initialDepth = 2834.597191; finalDepth = 2833.014894; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.1136270000002 # Actual altitude: 50 # Commanded vehicle depth:2834.597191 # Seafloor depth:-2877.710818 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 119.964366 meters # Minimum depth: 2879.791943 meters looking forward 200.000000 meters along route # Maximum depth: 2882.629405 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2839.791943 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792919; longitude = -120.993038; captureRadius = 10; duration = 119; initialDepth = 2839.791943; finalDepth = 2834.597191; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.1136270000002 # Actual altitude: 50 # Commanded vehicle depth:2839.791943 # Seafloor depth:-2879.791943 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 119.964272 meters # Minimum depth: 2880.496163 meters looking forward 200.000000 meters along route # Maximum depth: 2888.183896 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2840.496163 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792939; longitude = -120.994333; captureRadius = 10; duration = 119; initialDepth = 2840.496163; finalDepth = 2839.791943; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.8946690000002 # Actual altitude: 50 # Commanded vehicle depth:2840.496163 # Seafloor depth:-2883.390832 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 119.964178 meters # Minimum depth: 2885.613052 meters looking forward 200.000000 meters along route # Maximum depth: 2891.718262 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2845.613052 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792959; longitude = -120.995628; captureRadius = 10; duration = 119; initialDepth = 2845.613052; finalDepth = 2840.496163; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.9040169999998 # Actual altitude: 50 # Commanded vehicle depth:2845.613052 # Seafloor depth:-2888.517069 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 114.161901 meters # Minimum depth: 2888.857326 meters looking forward 200.000000 meters along route # Maximum depth: 2899.448439 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2848.857326 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792979; longitude = -120.996923; captureRadius = 10; duration = 114; initialDepth = 2848.857326; finalDepth = 2845.613052; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.4126760000004 # Actual altitude: 50 # Commanded vehicle depth:2848.857326 # Seafloor depth:-2893.270002 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 21 # Segment length 25.109555 meters # Minimum depth: 2889.290902 meters looking forward 200.000000 meters along route # Maximum depth: 2900.297485 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2849.290902 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792999; longitude = -120.998156; captureRadius = 10; duration = 25; initialDepth = 2849.290902; finalDepth = 2848.857326; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.0065829999999 # Actual altitude: 51.0065829999999 # Commanded vehicle depth:2849.290902 # Seafloor depth:-2900.297485 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.03; 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 = 204.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 106.243806 meters # Minimum depth: 2896.673201 meters looking forward 200.000000 meters along route # Maximum depth: 2900.297485 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2856.673201 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.793185; longitude = -120.998002; captureRadius = 10; duration = 106; initialDepth = 2856.673201; finalDepth = 2849.290902; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.0065829999999 # Actual altitude: 51.0065829999999 # Commanded vehicle depth:2856.673201 # Seafloor depth:-2899.377201 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.03; 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 = 204.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 106.007631 meters # Minimum depth: 2894.231209 meters looking forward 200.000000 meters along route # Maximum depth: 2898.438597 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2854.231209 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.793976; longitude = -120.997354; captureRadius = 10; duration = 106; initialDepth = 2854.231209; finalDepth = 2856.673201; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.7039999999997 # Actual altitude: 50 # Commanded vehicle depth:2854.231209 # Seafloor depth:-2896.699868 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 102.787292 meters # Minimum depth: 2889.379200 meters looking forward 200.000000 meters along route # Maximum depth: 2896.902833 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2849.379200 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.794764; longitude = -120.996707; captureRadius = 10; duration = 102; initialDepth = 2849.379200; finalDepth = 2854.231209; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.0361250000001 # Actual altitude: 50 # Commanded vehicle depth:2849.3792 # Seafloor depth:-2892.415325 # 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 20 # Segment length 100.450708 meters # Minimum depth: 2888.729894 meters looking forward 200.000000 meters along route # Maximum depth: 2891.552578 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2848.729894 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795529; longitude = -120.996080; captureRadius = 10; duration = 100; initialDepth = 2848.729894; finalDepth = 2849.379200; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.0361250000001 # Actual altitude: 50 # Commanded vehicle depth:2848.729894 # Seafloor depth:-2890.172913 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 119.735923 meters # Minimum depth: 2888.729894 meters looking forward 200.000000 meters along route # Maximum depth: 2891.545392 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2848.729894 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.794623; longitude = -120.996100; captureRadius = 10; duration = 119; initialDepth = 2848.729894; finalDepth = 2848.729894; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.4430189999998 # Actual altitude: 50 # Commanded vehicle depth:2848.729894 # Seafloor depth:-2890.018790 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 119.735903 meters # Minimum depth: 2888.987184 meters looking forward 200.000000 meters along route # Maximum depth: 2891.545392 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2848.987184 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.793544; longitude = -120.996124; captureRadius = 10; duration = 119; initialDepth = 2848.987184; finalDepth = 2848.729894; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.4541439999998 # Actual altitude: 50 # Commanded vehicle depth:2848.987184 # Seafloor depth:-2890.441328 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 119.735882 meters # Minimum depth: 2888.987184 meters looking forward 200.000000 meters along route # Maximum depth: 2894.661438 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2848.987184 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792465; longitude = -120.996149; captureRadius = 10; duration = 119; initialDepth = 2848.987184; finalDepth = 2848.987184; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.8586420000001 # Actual altitude: 50 # Commanded vehicle depth:2848.987184 # Seafloor depth:-2890.845826 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 119.735862 meters # Minimum depth: 2888.745566 meters looking forward 200.000000 meters along route # Maximum depth: 2894.930151 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2848.745566 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.791385; longitude = -120.996173; captureRadius = 10; duration = 119; initialDepth = 2848.745566; finalDepth = 2848.987184; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.184585 # Actual altitude: 50 # Commanded vehicle depth:2848.745566 # Seafloor depth:-2894.930151 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 119.735842 meters # Minimum depth: 2888.653330 meters looking forward 200.000000 meters along route # Maximum depth: 2895.470673 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2848.653330 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790306; longitude = -120.996197; captureRadius = 10; duration = 119; initialDepth = 2848.653330; finalDepth = 2848.745566; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.184585 # Actual altitude: 50 # Commanded vehicle depth:2848.65333 # Seafloor depth:-2888.653330 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 119.735821 meters # Minimum depth: 2887.404207 meters looking forward 200.000000 meters along route # Maximum depth: 2897.132796 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2847.404207 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.789227; longitude = -120.996221; captureRadius = 10; duration = 119; initialDepth = 2847.404207; finalDepth = 2848.653330; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.7285889999998 # Actual altitude: 50 # Commanded vehicle depth:2847.404207 # Seafloor depth:-2897.132796 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 119.735801 meters # Minimum depth: 2886.980088 meters looking forward 200.000000 meters along route # Maximum depth: 2893.424540 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2846.980088 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.788148; longitude = -120.996245; captureRadius = 10; duration = 119; initialDepth = 2846.980088; finalDepth = 2847.404207; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.7285889999998 # Actual altitude: 50 # Commanded vehicle depth:2846.980088 # Seafloor depth:-2886.980088 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 119.735781 meters # Minimum depth: 2886.428343 meters looking forward 200.000000 meters along route # Maximum depth: 2888.072453 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2846.428343 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.787068; longitude = -120.996269; captureRadius = 10; duration = 119; initialDepth = 2846.428343; finalDepth = 2846.980088; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.1765059999998 # Actual altitude: 50 # Commanded vehicle depth:2846.428343 # Seafloor depth:-2886.604849 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 119.735760 meters # Minimum depth: 2885.462267 meters looking forward 200.000000 meters along route # Maximum depth: 2886.760903 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2845.462267 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.785989; longitude = -120.996294; captureRadius = 10; duration = 119; initialDepth = 2845.462267; finalDepth = 2846.428343; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.8095750000002 # Actual altitude: 50 # Commanded vehicle depth:2845.462267 # Seafloor depth:-2886.271842 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 119.735739 meters # Minimum depth: 2885.384057 meters looking forward 200.000000 meters along route # Maximum depth: 2886.679640 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2845.384057 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.784910; longitude = -120.996318; captureRadius = 10; duration = 119; initialDepth = 2845.384057; finalDepth = 2845.462267; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.8095750000002 # Actual altitude: 50 # Commanded vehicle depth:2845.384057 # Seafloor depth:-2885.384057 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 123.062406 meters # Minimum depth: 2886.244299 meters looking forward 200.000000 meters along route # Maximum depth: 2887.455133 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2846.244299 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.783830; longitude = -120.996342; captureRadius = 10; duration = 123; initialDepth = 2846.244299; finalDepth = 2845.384057; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.4699730000002 # Actual altitude: 50 # Commanded vehicle depth:2846.244299 # Seafloor depth:-2886.714272 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 19 # Segment length 48.444724 meters # Minimum depth: 2886.679640 meters looking forward 200.000000 meters along route # Maximum depth: 2887.880493 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2846.679640 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.782721; longitude = -120.996367; captureRadius = 10; duration = 48; initialDepth = 2846.679640; finalDepth = 2846.244299; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.2008530000003 # Actual altitude: 50 # Commanded vehicle depth:2846.67964 # Seafloor depth:-2887.880493 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 101.555276 meters # Minimum depth: 2886.437487 meters looking forward 200.000000 meters along route # Maximum depth: 2888.604684 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2846.437487 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.782713; longitude = -120.995844; captureRadius = 10; duration = 101; initialDepth = 2846.437487; finalDepth = 2846.679640; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.2008530000003 # Actual altitude: 50 # Commanded vehicle depth:2846.437487 # Seafloor depth:-2886.461166 # 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 18 # Segment length 101.919699 meters # Minimum depth: 2886.437487 meters looking forward 200.000000 meters along route # Maximum depth: 2888.604684 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2846.437487 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.782696; longitude = -120.994747; captureRadius = 10; duration = 101; initialDepth = 2846.437487; finalDepth = 2846.437487; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.1283089999997 # Actual altitude: 50 # Commanded vehicle depth:2846.437487 # Seafloor depth:-2888.565796 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 119.735853 meters # Minimum depth: 2884.380486 meters looking forward 200.000000 meters along route # Maximum depth: 2888.314159 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2844.380486 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.783615; longitude = -120.994727; captureRadius = 10; duration = 119; initialDepth = 2844.380486; finalDepth = 2846.437487; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.4204129999998 # Actual altitude: 50 # Commanded vehicle depth:2844.380486 # Seafloor depth:-2887.800899 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 119.735873 meters # Minimum depth: 2883.789450 meters looking forward 200.000000 meters along route # Maximum depth: 2885.913242 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2843.789450 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.784694; longitude = -120.994703; captureRadius = 10; duration = 119; initialDepth = 2843.789450; finalDepth = 2844.380486; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.4204129999998 # Actual altitude: 50 # Commanded vehicle depth:2843.78945 # Seafloor depth:-2883.870222 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 119.735894 meters # Minimum depth: 2882.698912 meters looking forward 200.000000 meters along route # Maximum depth: 2885.512411 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2842.698912 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.785773; longitude = -120.994679; captureRadius = 10; duration = 119; initialDepth = 2842.698912; finalDepth = 2843.789450; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.3117780000002 # Actual altitude: 50 # Commanded vehicle depth:2842.698912 # Seafloor depth:-2885.010690 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 119.735914 meters # Minimum depth: 2882.698912 meters looking forward 200.000000 meters along route # Maximum depth: 2884.840290 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2842.698912 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.786852; longitude = -120.994654; captureRadius = 10; duration = 119; initialDepth = 2842.698912; finalDepth = 2842.698912; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.3117780000002 # Actual altitude: 50 # Commanded vehicle depth:2842.698912 # Seafloor depth:-2883.551332 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 119.735935 meters # Minimum depth: 2882.669569 meters looking forward 200.000000 meters along route # Maximum depth: 2884.840290 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2842.669569 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.787932; longitude = -120.994630; captureRadius = 10; duration = 119; initialDepth = 2842.669569; finalDepth = 2842.698912; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.040133 # Actual altitude: 50 # Commanded vehicle depth:2842.669569 # Seafloor depth:-2884.709702 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 119.735955 meters # Minimum depth: 2882.649117 meters looking forward 200.000000 meters along route # Maximum depth: 2883.573498 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2842.649117 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.789011; longitude = -120.994606; captureRadius = 10; duration = 119; initialDepth = 2842.649117; finalDepth = 2842.669569; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.040133 # Actual altitude: 50 # Commanded vehicle depth:2842.649117 # Seafloor depth:-2882.649117 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 119.735975 meters # Minimum depth: 2882.762330 meters looking forward 200.000000 meters along route # Maximum depth: 2883.799782 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2842.762330 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790090; longitude = -120.994582; captureRadius = 10; duration = 119; initialDepth = 2842.762330; finalDepth = 2842.649117; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.2299429999998 # Actual altitude: 50 # Commanded vehicle depth:2842.76233 # Seafloor depth:-2882.992273 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 119.735996 meters # Minimum depth: 2880.915707 meters looking forward 200.000000 meters along route # Maximum depth: 2883.799782 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2840.915707 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.791170; longitude = -120.994558; captureRadius = 10; duration = 119; initialDepth = 2840.915707; finalDepth = 2842.762330; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.7568779999997 # Actual altitude: 50 # Commanded vehicle depth:2840.915707 # Seafloor depth:-2883.672585 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 119.736016 meters # Minimum depth: 2880.915707 meters looking forward 200.000000 meters along route # Maximum depth: 2884.372749 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2840.915707 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792249; longitude = -120.994533; captureRadius = 10; duration = 119; initialDepth = 2840.915707; finalDepth = 2840.915707; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.7568779999997 # Actual altitude: 50 # Commanded vehicle depth:2840.915707 # Seafloor depth:-2881.131680 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 119.736036 meters # Minimum depth: 2883.446904 meters looking forward 200.000000 meters along route # Maximum depth: 2885.283513 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2843.446904 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.793328; longitude = -120.994509; captureRadius = 10; duration = 119; initialDepth = 2843.446904; finalDepth = 2840.915707; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.2524550000003 # Actual altitude: 50 # Commanded vehicle depth:2843.446904 # Seafloor depth:-2884.699359 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 121.592282 meters # Minimum depth: 2881.874717 meters looking forward 200.000000 meters along route # Maximum depth: 2885.283513 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2841.874717 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.794407; longitude = -120.994485; captureRadius = 10; duration = 121; initialDepth = 2841.874717; finalDepth = 2843.446904; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.3731819999998 # Actual altitude: 50 # Commanded vehicle depth:2841.874717 # Seafloor depth:-2884.247899 # 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 17 # Segment length 31.827426 meters # Minimum depth: 2881.142517 meters looking forward 200.000000 meters along route # Maximum depth: 2885.009763 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2841.142517 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795503; longitude = -120.994461; captureRadius = 10; duration = 31; initialDepth = 2841.142517; finalDepth = 2841.874717; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.3731819999998 # Actual altitude: 50 # Commanded vehicle depth:2841.142517 # Seafloor depth:-2881.142517 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 118.172574 meters # Minimum depth: 2880.402923 meters looking forward 200.000000 meters along route # Maximum depth: 2882.814664 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2840.402923 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795498; longitude = -120.994117; captureRadius = 10; duration = 118; initialDepth = 2840.402923; finalDepth = 2841.142517; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.076118 # Actual altitude: 50 # Commanded vehicle depth:2840.402923 # Seafloor depth:-2880.479041 # 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 16 # Segment length 22.995368 meters # Minimum depth: 2880.402923 meters looking forward 200.000000 meters along route # Maximum depth: 2882.814664 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2840.402923 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795478; longitude = -120.992841; captureRadius = 10; duration = 22; initialDepth = 2840.402923; finalDepth = 2840.402923; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.840119 # Actual altitude: 50 # Commanded vehicle depth:2840.402923 # Seafloor depth:-2881.243042 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 119.736171 meters # Minimum depth: 2879.147878 meters looking forward 200.000000 meters along route # Maximum depth: 2886.049219 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2839.147878 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795271; longitude = -120.992846; captureRadius = 10; duration = 119; initialDepth = 2839.147878; finalDepth = 2840.402923; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.840119 # Actual altitude: 50 # Commanded vehicle depth:2839.147878 # Seafloor depth:-2879.619984 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 119.736150 meters # Minimum depth: 2879.160482 meters looking forward 200.000000 meters along route # Maximum depth: 2886.096830 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2839.160482 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.794192; longitude = -120.992870; captureRadius = 10; duration = 119; initialDepth = 2839.160482; finalDepth = 2839.147878; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.9363480000002 # Actual altitude: 50 # Commanded vehicle depth:2839.160482 # Seafloor depth:-2886.096830 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 119.736129 meters # Minimum depth: 2879.160482 meters looking forward 200.000000 meters along route # Maximum depth: 2888.318399 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2839.160482 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.793112; longitude = -120.992894; captureRadius = 10; duration = 119; initialDepth = 2839.160482; finalDepth = 2839.160482; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.9363480000002 # Actual altitude: 50 # Commanded vehicle depth:2839.160482 # Seafloor depth:-2879.719202 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 119.736109 meters # Minimum depth: 2880.405566 meters looking forward 200.000000 meters along route # Maximum depth: 2893.626540 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2840.405566 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792033; longitude = -120.992918; captureRadius = 10; duration = 119; initialDepth = 2840.405566; finalDepth = 2839.160482; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.9492949999999 # Actual altitude: 52.9492949999999 # Commanded vehicle depth:2840.405566 # Seafloor depth:-2893.354861 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.18; MB_Bottom_Detect_Filter_Max_Range = 211.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 119.736089 meters # Minimum depth: 2877.401544 meters looking forward 200.000000 meters along route # Maximum depth: 2890.894124 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2837.401544 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790954; longitude = -120.992943; captureRadius = 10; duration = 119; initialDepth = 2837.401544; finalDepth = 2840.405566; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.9492949999999 # Actual altitude: 52.9492949999999 # Commanded vehicle depth:2837.401544 # Seafloor depth:-2879.577754 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.18; MB_Bottom_Detect_Filter_Max_Range = 211.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 119.736068 meters # Minimum depth: 2877.401544 meters looking forward 200.000000 meters along route # Maximum depth: 2880.583683 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2837.401544 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.789874; longitude = -120.992967; captureRadius = 10; duration = 119; initialDepth = 2837.401544; finalDepth = 2837.401544; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.1762100000001 # Actual altitude: 50 # Commanded vehicle depth:2837.401544 # Seafloor depth:-2879.556778 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 119.736048 meters # Minimum depth: 2880.218287 meters looking forward 200.000000 meters along route # Maximum depth: 2881.666028 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2840.218287 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.788795; longitude = -120.992991; captureRadius = 10; duration = 119; initialDepth = 2840.218287; finalDepth = 2837.401544; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.1552340000003 # Actual altitude: 50 # Commanded vehicle depth:2840.218287 # Seafloor depth:-2880.305327 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 111.232365 meters # Minimum depth: 2881.012514 meters looking forward 200.000000 meters along route # Maximum depth: 2882.106756 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2841.012514 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.787716; longitude = -120.993015; captureRadius = 10; duration = 111; initialDepth = 2841.012514; finalDepth = 2840.218287; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.4281390000001 # Actual altitude: 50 # Commanded vehicle depth:2841.012514 # Seafloor depth:-2881.440653 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 104.292470 meters # Minimum depth: 2881.012514 meters looking forward 200.000000 meters along route # Maximum depth: 2883.401016 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2841.012514 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.786713; longitude = -120.993038; captureRadius = 10; duration = 104; initialDepth = 2841.012514; finalDepth = 2841.012514; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.6413680000001 # Actual altitude: 50 # Commanded vehicle depth:2841.012514 # Seafloor depth:-2882.653882 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 119.735991 meters # Minimum depth: 2882.063777 meters looking forward 200.000000 meters along route # Maximum depth: 2883.981253 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2842.063777 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.785773; longitude = -120.993059; captureRadius = 10; duration = 119; initialDepth = 2842.063777; finalDepth = 2841.012514; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.6413680000001 # Actual altitude: 50 # Commanded vehicle depth:2842.063777 # Seafloor depth:-2882.221743 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 119.735970 meters # Minimum depth: 2882.331922 meters looking forward 200.000000 meters along route # Maximum depth: 2884.709028 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2842.331922 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.784694; longitude = -120.993083; captureRadius = 10; duration = 119; initialDepth = 2842.331922; finalDepth = 2842.063777; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.3461120000002 # Actual altitude: 50 # Commanded vehicle depth:2842.331922 # Seafloor depth:-2884.678034 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 104.726500 meters # Minimum depth: 2884.164604 meters looking forward 200.000000 meters along route # Maximum depth: 2886.116548 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2844.164604 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.783615; longitude = -120.993107; captureRadius = 10; duration = 104; initialDepth = 2844.164604; finalDepth = 2842.331922; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.3461120000002 # Actual altitude: 50 # Commanded vehicle depth:2844.164604 # Seafloor depth:-2884.569735 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 15 # Segment length 48.390984 meters # Minimum depth: 2884.260531 meters looking forward 200.000000 meters along route # Maximum depth: 2887.335032 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2844.260531 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.782671; longitude = -120.993128; captureRadius = 10; duration = 48; initialDepth = 2844.260531; finalDepth = 2844.164604; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.6698890000002 # Actual altitude: 50 # Commanded vehicle depth:2844.260531 # Seafloor depth:-2886.930420 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 101.609016 meters # Minimum depth: 2885.086769 meters looking forward 200.000000 meters along route # Maximum depth: 2890.686441 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2845.086769 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.782662; longitude = -120.992606; captureRadius = 10; duration = 101; initialDepth = 2845.086769; finalDepth = 2844.260531; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.4480039999999 # Actual altitude: 50 # Commanded vehicle depth:2845.086769 # Seafloor depth:-2888.534773 # 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 14 # Segment length 107.535660 meters # Minimum depth: 2885.449022 meters looking forward 200.000000 meters along route # Maximum depth: 2890.686441 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2845.449022 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.782645; longitude = -120.991509; captureRadius = 10; duration = 107; initialDepth = 2845.449022; finalDepth = 2845.086769; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.71974 # Actual altitude: 50 # Commanded vehicle depth:2845.449022 # Seafloor depth:-2890.168762 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 119.736088 meters # Minimum depth: 2882.831575 meters looking forward 200.000000 meters along route # Maximum depth: 2888.583023 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2842.831575 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.783615; longitude = -120.991487; captureRadius = 10; duration = 119; initialDepth = 2842.831575; finalDepth = 2845.449022; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.71974 # Actual altitude: 50 # Commanded vehicle depth:2842.831575 # Seafloor depth:-2884.334425 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 119.736109 meters # Minimum depth: 2881.793508 meters looking forward 200.000000 meters along route # Maximum depth: 2883.710105 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2841.793508 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.784694; longitude = -120.991463; captureRadius = 10; duration = 119; initialDepth = 2841.793508; finalDepth = 2842.831575; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.5028499999999 # Actual altitude: 50 # Commanded vehicle depth:2841.793508 # Seafloor depth:-2882.162533 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 119.736128 meters # Minimum depth: 2879.442192 meters looking forward 200.000000 meters along route # Maximum depth: 2882.570800 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2839.442192 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.785773; longitude = -120.991439; captureRadius = 10; duration = 119; initialDepth = 2839.442192; finalDepth = 2841.793508; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.128608 # Actual altitude: 50 # Commanded vehicle depth:2839.442192 # Seafloor depth:-2882.570800 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 119.736150 meters # Minimum depth: 2877.984867 meters looking forward 200.000000 meters along route # Maximum depth: 2881.365412 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2837.984867 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.786852; longitude = -120.991415; captureRadius = 10; duration = 119; initialDepth = 2837.984867; finalDepth = 2839.442192; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.128608 # Actual altitude: 50 # Commanded vehicle depth:2837.984867 # Seafloor depth:-2878.710500 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 119.736169 meters # Minimum depth: 2877.984867 meters looking forward 200.000000 meters along route # Maximum depth: 2879.480057 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2837.984867 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.787932; longitude = -120.991390; captureRadius = 10; duration = 119; initialDepth = 2837.984867; finalDepth = 2837.984867; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.725633 # Actual altitude: 50 # Commanded vehicle depth:2837.984867 # Seafloor depth:-2878.481945 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 119.736190 meters # Minimum depth: 2878.122348 meters looking forward 200.000000 meters along route # Maximum depth: 2879.480057 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2838.122348 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.789011; longitude = -120.991366; captureRadius = 10; duration = 119; initialDepth = 2838.122348; finalDepth = 2837.984867; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.7801650000001 # Actual altitude: 50 # Commanded vehicle depth:2838.122348 # Seafloor depth:-2878.902513 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 119.736210 meters # Minimum depth: 2877.545487 meters looking forward 200.000000 meters along route # Maximum depth: 2879.258652 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2837.545487 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790090; longitude = -120.991342; captureRadius = 10; duration = 119; initialDepth = 2837.545487; finalDepth = 2838.122348; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.7801650000001 # Actual altitude: 50 # Commanded vehicle depth:2837.545487 # Seafloor depth:-2877.545487 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 119.736231 meters # Minimum depth: 2874.977699 meters looking forward 200.000000 meters along route # Maximum depth: 2879.258652 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2834.977699 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.791170; longitude = -120.991318; captureRadius = 10; duration = 119; initialDepth = 2834.977699; finalDepth = 2837.545487; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.35005 # Actual altitude: 50 # Commanded vehicle depth:2834.977699 # Seafloor depth:-2878.327749 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 119.736251 meters # Minimum depth: 2874.852533 meters looking forward 200.000000 meters along route # Maximum depth: 2875.837217 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2834.852533 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792249; longitude = -120.991294; captureRadius = 10; duration = 119; initialDepth = 2834.852533; finalDepth = 2834.977699; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.35005 # Actual altitude: 50 # Commanded vehicle depth:2834.852533 # Seafloor depth:-2874.907545 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 119.736272 meters # Minimum depth: 2874.934948 meters looking forward 200.000000 meters along route # Maximum depth: 2876.114882 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2834.934948 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.793328; longitude = -120.991269; captureRadius = 10; duration = 119; initialDepth = 2834.934948; finalDepth = 2834.852533; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.9252120000001 # Actual altitude: 50 # Commanded vehicle depth:2834.934948 # Seafloor depth:-2875.860160 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 115.973970 meters # Minimum depth: 2874.760068 meters looking forward 200.000000 meters along route # Maximum depth: 2876.114882 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2834.760068 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.794407; longitude = -120.991245; captureRadius = 10; duration = 115; initialDepth = 2834.760068; finalDepth = 2834.934948; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.329839 # Actual altitude: 50 # Commanded vehicle depth:2834.760068 # Seafloor depth:-2876.089907 # 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 13 # Segment length 31.729422 meters # Minimum depth: 2874.290974 meters looking forward 200.000000 meters along route # Maximum depth: 2876.114882 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2834.290974 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795453; longitude = -120.991222; captureRadius = 10; duration = 31; initialDepth = 2834.290974; finalDepth = 2834.760068; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.329839 # Actual altitude: 50 # Commanded vehicle depth:2834.290974 # Seafloor depth:-2874.636475 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 118.270578 meters # Minimum depth: 2873.000420 meters looking forward 200.000000 meters along route # Maximum depth: 2875.234709 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2833.000420 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795447; longitude = -120.990879; captureRadius = 10; duration = 118; initialDepth = 2833.000420; finalDepth = 2834.290974; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.5627030000001 # Actual altitude: 50 # Commanded vehicle depth:2833.00042 # Seafloor depth:-2873.563123 # 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 12 # Segment length 113.161271 meters # Minimum depth: 2873.000420 meters looking forward 200.000000 meters along route # Maximum depth: 2875.662387 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2833.000420 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795427; longitude = -120.989602; captureRadius = 10; duration = 113; initialDepth = 2833.000420; finalDepth = 2833.000420; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.0915600000003 # Actual altitude: 50 # Commanded vehicle depth:2833.00042 # Seafloor depth:-2874.091980 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 119.736389 meters # Minimum depth: 2874.420807 meters looking forward 200.000000 meters along route # Maximum depth: 2875.662387 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2834.420807 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.794407; longitude = -120.989625; captureRadius = 10; duration = 119; initialDepth = 2834.420807; finalDepth = 2833.000420; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.0915600000003 # Actual altitude: 50 # Commanded vehicle depth:2834.420807 # Seafloor depth:-2875.475994 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 119.736369 meters # Minimum depth: 2871.687230 meters looking forward 200.000000 meters along route # Maximum depth: 2874.721153 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2831.687230 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.793328; longitude = -120.989649; captureRadius = 10; duration = 119; initialDepth = 2831.687230; finalDepth = 2834.420807; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.659232 # Actual altitude: 50 # Commanded vehicle depth:2831.68723 # Seafloor depth:-2874.346462 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 119.736348 meters # Minimum depth: 2871.687230 meters looking forward 200.000000 meters along route # Maximum depth: 2877.684692 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2831.687230 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792249; longitude = -120.989674; captureRadius = 10; duration = 119; initialDepth = 2831.687230; finalDepth = 2831.687230; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.659232 # Actual altitude: 50 # Commanded vehicle depth:2831.68723 # Seafloor depth:-2872.598883 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 119.736328 meters # Minimum depth: 2876.424740 meters looking forward 200.000000 meters along route # Maximum depth: 2880.428026 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2836.424740 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.791170; longitude = -120.989698; captureRadius = 10; duration = 119; initialDepth = 2836.424740; finalDepth = 2831.687230; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.9116530000001 # Actual altitude: 50 # Commanded vehicle depth:2836.42474 # Seafloor depth:-2876.559113 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 119.736308 meters # Minimum depth: 2877.771829 meters looking forward 200.000000 meters along route # Maximum depth: 2880.428026 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2837.771829 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790090; longitude = -120.989722; captureRadius = 10; duration = 119; initialDepth = 2837.771829; finalDepth = 2836.424740; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.2324310000004 # Actual altitude: 50 # Commanded vehicle depth:2837.771829 # Seafloor depth:-2880.004260 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 119.736287 meters # Minimum depth: 2877.375436 meters looking forward 200.000000 meters along route # Maximum depth: 2879.534193 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2837.375436 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.789011; longitude = -120.989746; captureRadius = 10; duration = 119; initialDepth = 2837.375436; finalDepth = 2837.771829; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.2324310000004 # Actual altitude: 50 # Commanded vehicle depth:2837.375436 # Seafloor depth:-2879.399568 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 119.736267 meters # Minimum depth: 2876.983866 meters looking forward 200.000000 meters along route # Maximum depth: 2878.309053 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2836.983866 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.787932; longitude = -120.989771; captureRadius = 10; duration = 119; initialDepth = 2836.983866; finalDepth = 2837.375436; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.024132 # Actual altitude: 50 # Commanded vehicle depth:2836.983866 # Seafloor depth:-2877.470171 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 119.736246 meters # Minimum depth: 2876.983866 meters looking forward 200.000000 meters along route # Maximum depth: 2879.142674 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2836.983866 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.786852; longitude = -120.989795; captureRadius = 10; duration = 119; initialDepth = 2836.983866; finalDepth = 2836.983866; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.527157 # Actual altitude: 50 # Commanded vehicle depth:2836.983866 # Seafloor depth:-2877.511023 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 119.736226 meters # Minimum depth: 2878.800230 meters looking forward 200.000000 meters along route # Maximum depth: 2882.915982 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2838.800230 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.785773; longitude = -120.989819; captureRadius = 10; duration = 119; initialDepth = 2838.800230; finalDepth = 2836.983866; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.527157 # Actual altitude: 50 # Commanded vehicle depth:2838.80023 # Seafloor depth:-2879.260696 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 119.736206 meters # Minimum depth: 2880.310848 meters looking forward 200.000000 meters along route # Maximum depth: 2885.456125 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2840.310848 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.784694; longitude = -120.989843; captureRadius = 10; duration = 119; initialDepth = 2840.310848; finalDepth = 2838.800230; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.0020919999997 # Actual altitude: 50 # Commanded vehicle depth:2840.310848 # Seafloor depth:-2884.312940 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 110.347183 meters # Minimum depth: 2884.252829 meters looking forward 200.000000 meters along route # Maximum depth: 2888.101596 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2844.252829 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.783615; longitude = -120.989868; captureRadius = 10; duration = 110; initialDepth = 2844.252829; finalDepth = 2840.310848; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.0020919999997 # Actual altitude: 50 # Commanded vehicle depth:2844.252829 # Seafloor depth:-2884.252829 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 11 # Segment length 48.338009 meters # Minimum depth: 2884.252829 meters looking forward 200.000000 meters along route # Maximum depth: 2888.532288 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2844.252829 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.782620; longitude = -120.989890; captureRadius = 10; duration = 48; initialDepth = 2844.252829; finalDepth = 2844.252829; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.2794589999999 # Actual altitude: 50 # Commanded vehicle depth:2844.252829 # Seafloor depth:-2888.532288 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 101.661991 meters # Minimum depth: 2886.088370 meters looking forward 200.000000 meters along route # Maximum depth: 2889.239438 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2846.088370 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.782612; longitude = -120.989368; captureRadius = 10; duration = 101; initialDepth = 2846.088370; finalDepth = 2844.252829; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.2794589999999 # Actual altitude: 50 # Commanded vehicle depth:2846.08837 # Seafloor depth:-2888.625815 # 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 10 # Segment length 113.161065 meters # Minimum depth: 2883.962250 meters looking forward 200.000000 meters along route # Maximum depth: 2889.239438 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2843.962250 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.782595; longitude = -120.988271; captureRadius = 10; duration = 113; initialDepth = 2843.962250; finalDepth = 2846.088370; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.5374449999999 # Actual altitude: 50 # Commanded vehicle depth:2843.96225 # Seafloor depth:-2885.023193 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 119.736323 meters # Minimum depth: 2883.302663 meters looking forward 200.000000 meters along route # Maximum depth: 2884.110105 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2843.302663 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.783615; longitude = -120.988248; captureRadius = 10; duration = 119; initialDepth = 2843.302663; finalDepth = 2843.962250; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.060943 # Actual altitude: 50 # Commanded vehicle depth:2843.302663 # Seafloor depth:-2883.830047 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 119.736344 meters # Minimum depth: 2880.850155 meters looking forward 200.000000 meters along route # Maximum depth: 2884.382081 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2840.850155 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.784694; longitude = -120.988223; captureRadius = 10; duration = 119; initialDepth = 2840.850155; finalDepth = 2843.302663; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.2682569999997 # Actual altitude: 50 # Commanded vehicle depth:2840.850155 # Seafloor depth:-2884.118412 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 119.736365 meters # Minimum depth: 2877.368981 meters looking forward 200.000000 meters along route # Maximum depth: 2883.888149 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2837.368981 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.785773; longitude = -120.988199; captureRadius = 10; duration = 119; initialDepth = 2837.368981; finalDepth = 2840.850155; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.2682569999997 # Actual altitude: 50 # Commanded vehicle depth:2837.368981 # Seafloor depth:-2880.433848 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 119.736384 meters # Minimum depth: 2877.368981 meters looking forward 200.000000 meters along route # Maximum depth: 2880.220856 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2837.368981 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.786852; longitude = -120.988175; captureRadius = 10; duration = 119; initialDepth = 2837.368981; finalDepth = 2837.368981; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.064867 # Actual altitude: 50 # Commanded vehicle depth:2837.368981 # Seafloor depth:-2877.522450 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 119.736405 meters # Minimum depth: 2875.074860 meters looking forward 200.000000 meters along route # Maximum depth: 2880.220856 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2835.074860 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.787932; longitude = -120.988151; captureRadius = 10; duration = 119; initialDepth = 2835.074860; finalDepth = 2837.368981; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.8720949999997 # Actual altitude: 50 # Commanded vehicle depth:2835.07486 # Seafloor depth:-2878.946955 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 119.736425 meters # Minimum depth: 2875.074860 meters looking forward 200.000000 meters along route # Maximum depth: 2877.714048 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2835.074860 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.789011; longitude = -120.988126; captureRadius = 10; duration = 119; initialDepth = 2835.074860; finalDepth = 2835.074860; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.8720949999997 # Actual altitude: 50 # Commanded vehicle depth:2835.07486 # Seafloor depth:-2875.415973 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 119.736446 meters # Minimum depth: 2874.373515 meters looking forward 200.000000 meters along route # Maximum depth: 2877.714048 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2834.373515 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790090; longitude = -120.988102; captureRadius = 10; duration = 119; initialDepth = 2834.373515; finalDepth = 2835.074860; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.2523419999998 # Actual altitude: 50 # Commanded vehicle depth:2834.373515 # Seafloor depth:-2877.625857 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 119.736466 meters # Minimum depth: 2873.054134 meters looking forward 200.000000 meters along route # Maximum depth: 2876.420935 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2833.054134 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.791170; longitude = -120.988078; captureRadius = 10; duration = 119; initialDepth = 2833.054134; finalDepth = 2834.373515; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.2523419999998 # Actual altitude: 50 # Commanded vehicle depth:2833.054134 # Seafloor depth:-2873.054134 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 119.736487 meters # Minimum depth: 2873.860215 meters looking forward 200.000000 meters along route # Maximum depth: 2875.514677 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2833.860215 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792249; longitude = -120.988054; captureRadius = 10; duration = 119; initialDepth = 2833.860215; finalDepth = 2833.054134; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.5568129999997 # Actual altitude: 50 # Commanded vehicle depth:2833.860215 # Seafloor depth:-2875.417028 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 119.736507 meters # Minimum depth: 2874.704383 meters looking forward 200.000000 meters along route # Maximum depth: 2875.355584 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2834.704383 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.793328; longitude = -120.988029; captureRadius = 10; duration = 119; initialDepth = 2834.704383; finalDepth = 2833.860215; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.5568129999997 # Actual altitude: 50 # Commanded vehicle depth:2834.704383 # Seafloor depth:-2875.006184 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 110.346210 meters # Minimum depth: 2873.913195 meters looking forward 200.000000 meters along route # Maximum depth: 2875.024126 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2833.913195 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.794407; longitude = -120.988005; captureRadius = 10; duration = 110; initialDepth = 2833.913195; finalDepth = 2834.704383; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.0373070000001 # Actual altitude: 50 # Commanded vehicle depth:2833.913195 # Seafloor depth:-2874.950502 # 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 9 # Segment length 31.632185 meters # Minimum depth: 2873.474373 meters looking forward 200.000000 meters along route # Maximum depth: 2875.024126 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2833.474373 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795402; longitude = -120.987983; captureRadius = 10; duration = 31; initialDepth = 2833.474373; finalDepth = 2833.913195; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.0373070000001 # Actual altitude: 50 # Commanded vehicle depth:2833.474373 # Seafloor depth:-2873.699463 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 118.367815 meters # Minimum depth: 2873.322532 meters looking forward 200.000000 meters along route # Maximum depth: 2874.695568 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2833.322532 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795397; longitude = -120.987641; captureRadius = 10; duration = 118; initialDepth = 2833.322532; finalDepth = 2833.474373; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.2250899999999 # Actual altitude: 50 # Commanded vehicle depth:2833.322532 # Seafloor depth:-2873.322532 # 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 8 # Segment length 107.528789 meters # Minimum depth: 2873.935122 meters looking forward 200.000000 meters along route # Maximum depth: 2875.631727 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2833.935122 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795377; longitude = -120.986363; captureRadius = 10; duration = 107; initialDepth = 2833.935122; finalDepth = 2833.322532; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.7274150000003 # Actual altitude: 50 # Commanded vehicle depth:2833.935122 # Seafloor depth:-2874.662537 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 119.736625 meters # Minimum depth: 2875.137451 meters looking forward 200.000000 meters along route # Maximum depth: 2876.704336 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2835.137451 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.794407; longitude = -120.986385; captureRadius = 10; duration = 119; initialDepth = 2835.137451; finalDepth = 2833.935122; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.7274150000003 # Actual altitude: 50 # Commanded vehicle depth:2835.137451 # Seafloor depth:-2875.734210 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 119.736604 meters # Minimum depth: 2876.108673 meters looking forward 200.000000 meters along route # Maximum depth: 2876.704336 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2836.108673 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.793328; longitude = -120.986409; captureRadius = 10; duration = 119; initialDepth = 2836.108673; finalDepth = 2835.137451; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.596759 # Actual altitude: 50 # Commanded vehicle depth:2836.108673 # Seafloor depth:-2876.432571 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 119.736584 meters # Minimum depth: 2875.439621 meters looking forward 200.000000 meters along route # Maximum depth: 2876.242824 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2835.439621 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792249; longitude = -120.986434; captureRadius = 10; duration = 119; initialDepth = 2835.439621; finalDepth = 2836.108673; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.365777 # Actual altitude: 50 # Commanded vehicle depth:2835.439621 # Seafloor depth:-2875.805398 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 119.736564 meters # Minimum depth: 2875.439621 meters looking forward 200.000000 meters along route # Maximum depth: 2877.618589 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2835.439621 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.791170; longitude = -120.986458; captureRadius = 10; duration = 119; initialDepth = 2835.439621; finalDepth = 2835.439621; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.365777 # Actual altitude: 50 # Commanded vehicle depth:2835.439621 # Seafloor depth:-2875.724866 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 119.736543 meters # Minimum depth: 2876.936562 meters looking forward 200.000000 meters along route # Maximum depth: 2877.798129 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2836.936562 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790090; longitude = -120.986482; captureRadius = 10; duration = 119; initialDepth = 2836.936562; finalDepth = 2835.439621; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.8615669999999 # Actual altitude: 50 # Commanded vehicle depth:2836.936562 # Seafloor depth:-2877.798129 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 119.736523 meters # Minimum depth: 2875.963419 meters looking forward 200.000000 meters along route # Maximum depth: 2877.593168 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2835.963419 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.789011; longitude = -120.986507; captureRadius = 10; duration = 119; initialDepth = 2835.963419; finalDepth = 2836.936562; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.3309389999999 # Actual altitude: 50 # Commanded vehicle depth:2835.963419 # Seafloor depth:-2877.294358 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 119.736502 meters # Minimum depth: 2875.963419 meters looking forward 200.000000 meters along route # Maximum depth: 2879.712453 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2835.963419 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.787932; longitude = -120.986531; captureRadius = 10; duration = 119; initialDepth = 2835.963419; finalDepth = 2835.963419; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.3309389999999 # Actual altitude: 50 # Commanded vehicle depth:2835.963419 # Seafloor depth:-2876.788933 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 119.736482 meters # Minimum depth: 2878.142209 meters looking forward 200.000000 meters along route # Maximum depth: 2880.309770 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2838.142209 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.786852; longitude = -120.986555; captureRadius = 10; duration = 119; initialDepth = 2838.142209; finalDepth = 2835.963419; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.062101 # Actual altitude: 50 # Commanded vehicle depth:2838.142209 # Seafloor depth:-2880.204310 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 119.736462 meters # Minimum depth: 2879.186742 meters looking forward 200.000000 meters along route # Maximum depth: 2882.159078 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2839.186742 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.785773; longitude = -120.986579; captureRadius = 10; duration = 119; initialDepth = 2839.186742; finalDepth = 2838.142209; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.062101 # Actual altitude: 50 # Commanded vehicle depth:2839.186742 # Seafloor depth:-2879.270246 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 119.736441 meters # Minimum depth: 2880.325987 meters looking forward 200.000000 meters along route # Maximum depth: 2883.955999 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2840.325987 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.784694; longitude = -120.986604; captureRadius = 10; duration = 119; initialDepth = 2840.325987; finalDepth = 2839.186742; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.4701769999997 # Actual altitude: 50 # Commanded vehicle depth:2840.325987 # Seafloor depth:-2882.796164 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 115.977309 meters # Minimum depth: 2882.459797 meters looking forward 200.000000 meters along route # Maximum depth: 2887.448084 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2842.459797 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.783615; longitude = -120.986628; captureRadius = 10; duration = 115; initialDepth = 2842.459797; finalDepth = 2840.325987; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.338553 # Actual altitude: 50 # Commanded vehicle depth:2842.459797 # Seafloor depth:-2885.798350 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 7 # Segment length 48.285802 meters # Minimum depth: 2883.955999 meters looking forward 200.000000 meters along route # Maximum depth: 2887.612305 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2843.955999 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.782569; longitude = -120.986651; captureRadius = 10; duration = 48; initialDepth = 2843.955999; finalDepth = 2842.459797; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.6563060000003 # Actual altitude: 50 # Commanded vehicle depth:2843.955999 # Seafloor depth:-2887.612305 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 101.714198 meters # Minimum depth: 2885.618341 meters looking forward 200.000000 meters along route # Maximum depth: 2887.612305 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2845.618341 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.782561; longitude = -120.986130; captureRadius = 10; duration = 101; initialDepth = 2845.618341; finalDepth = 2843.955999; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.6563060000003 # Actual altitude: 50 # Commanded vehicle depth:2845.618341 # Seafloor depth:-2885.833044 # 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 6 # Segment length 23.006682 meters # Minimum depth: 2885.618341 meters looking forward 200.000000 meters along route # Maximum depth: 2887.612305 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2845.618341 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.782544; longitude = -120.985032; captureRadius = 10; duration = 23; initialDepth = 2845.618341; finalDepth = 2845.618341; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.7453060000003 # Actual altitude: 50 # Commanded vehicle depth:2845.618341 # Seafloor depth:-2886.363647 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 119.736543 meters # Minimum depth: 2885.225931 meters looking forward 200.000000 meters along route # Maximum depth: 2886.614948 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2845.225931 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.782751; longitude = -120.985028; captureRadius = 10; duration = 119; initialDepth = 2845.225931; finalDepth = 2845.618341; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.8674489999999 # Actual altitude: 50 # Commanded vehicle depth:2845.225931 # Seafloor depth:-2886.093380 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 119.736563 meters # Minimum depth: 2883.941439 meters looking forward 200.000000 meters along route # Maximum depth: 2885.582299 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2843.941439 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.783830; longitude = -120.985003; captureRadius = 10; duration = 119; initialDepth = 2843.941439; finalDepth = 2845.225931; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.8674489999999 # Actual altitude: 50 # Commanded vehicle depth:2843.941439 # Seafloor depth:-2884.598154 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 119.736584 meters # Minimum depth: 2879.384417 meters looking forward 200.000000 meters along route # Maximum depth: 2884.130345 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2839.384417 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.784910; longitude = -120.984979; captureRadius = 10; duration = 119; initialDepth = 2839.384417; finalDepth = 2843.941439; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.4555139999998 # Actual altitude: 50 # Commanded vehicle depth:2839.384417 # Seafloor depth:-2882.839931 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 119.736604 meters # Minimum depth: 2877.634135 meters looking forward 200.000000 meters along route # Maximum depth: 2880.394186 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2837.634135 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.785989; longitude = -120.984955; captureRadius = 10; duration = 119; initialDepth = 2837.634135; finalDepth = 2839.384417; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.4555139999998 # Actual altitude: 50 # Commanded vehicle depth:2837.634135 # Seafloor depth:-2878.515413 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 119.736624 meters # Minimum depth: 2877.289928 meters looking forward 200.000000 meters along route # Maximum depth: 2878.221992 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2837.289928 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.787068; longitude = -120.984930; captureRadius = 10; duration = 119; initialDepth = 2837.289928; finalDepth = 2837.634135; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.8812780000003 # Actual altitude: 50 # Commanded vehicle depth:2837.289928 # Seafloor depth:-2877.520729 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 119.736645 meters # Minimum depth: 2876.961407 meters looking forward 200.000000 meters along route # Maximum depth: 2878.249374 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2836.961407 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.788148; longitude = -120.984906; captureRadius = 10; duration = 119; initialDepth = 2836.961407; finalDepth = 2837.289928; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.2879670000002 # Actual altitude: 50 # Commanded vehicle depth:2836.961407 # Seafloor depth:-2878.249374 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 119.736665 meters # Minimum depth: 2876.512827 meters looking forward 200.000000 meters along route # Maximum depth: 2878.180338 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2836.512827 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.789227; longitude = -120.984882; captureRadius = 10; duration = 119; initialDepth = 2836.512827; finalDepth = 2836.961407; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.2879670000002 # Actual altitude: 50 # Commanded vehicle depth:2836.512827 # Seafloor depth:-2876.656164 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 110.187040 meters # Minimum depth: 2876.757416 meters looking forward 200.000000 meters along route # Maximum depth: 2878.982198 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2836.757416 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790306; longitude = -120.984857; captureRadius = 10; duration = 110; initialDepth = 2836.757416; finalDepth = 2836.512827; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.0516600000001 # Actual altitude: 50 # Commanded vehicle depth:2836.757416 # Seafloor depth:-2878.809076 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 105.339009 meters # Minimum depth: 2878.659853 meters looking forward 200.000000 meters along route # Maximum depth: 2879.045891 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2838.659853 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.791299; longitude = -120.984835; captureRadius = 10; duration = 105; initialDepth = 2838.659853; finalDepth = 2836.757416; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.0516600000001 # Actual altitude: 50 # Commanded vehicle depth:2838.659853 # Seafloor depth:-2878.727327 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 119.736722 meters # Minimum depth: 2878.975685 meters looking forward 200.000000 meters along route # Maximum depth: 2880.158819 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2838.975685 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792249; longitude = -120.984814; captureRadius = 10; duration = 119; initialDepth = 2838.975685; finalDepth = 2838.659853; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.116571 # Actual altitude: 50 # Commanded vehicle depth:2838.975685 # Seafloor depth:-2879.092256 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 119.736743 meters # Minimum depth: 2877.945670 meters looking forward 200.000000 meters along route # Maximum depth: 2880.158819 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2837.945670 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.793328; longitude = -120.984789; captureRadius = 10; duration = 119; initialDepth = 2837.945670; finalDepth = 2838.975685; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.0717919999997 # Actual altitude: 50 # Commanded vehicle depth:2837.94567 # Seafloor depth:-2880.017462 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 104.709004 meters # Minimum depth: 2876.607251 meters looking forward 200.000000 meters along route # Maximum depth: 2878.969241 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2836.607251 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.794407; longitude = -120.984765; captureRadius = 10; duration = 104; initialDepth = 2836.607251; finalDepth = 2837.945670; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.0717919999997 # Actual altitude: 50 # Commanded vehicle depth:2836.607251 # Seafloor depth:-2877.269752 # 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 5 # Segment length 31.535713 meters # Minimum depth: 2876.607251 meters looking forward 200.000000 meters along route # Maximum depth: 2878.510656 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2836.607251 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795351; longitude = -120.984744; captureRadius = 10; duration = 31; initialDepth = 2836.607251; finalDepth = 2836.607251; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.8278690000002 # Actual altitude: 50 # Commanded vehicle depth:2836.607251 # Seafloor depth:-2877.435120 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 118.464287 meters # Minimum depth: 2876.914645 meters looking forward 200.000000 meters along route # Maximum depth: 2882.201159 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2836.914645 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795346; longitude = -120.984403; captureRadius = 10; duration = 118; initialDepth = 2836.914645; finalDepth = 2836.607251; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.8934370000002 # Actual altitude: 50 # Commanded vehicle depth:2836.914645 # Seafloor depth:-2877.808082 # 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 4 # Segment length 101.886859 meters # Minimum depth: 2880.092383 meters looking forward 200.000000 meters along route # Maximum depth: 2883.399812 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2840.092383 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795326; longitude = -120.983124; captureRadius = 10; duration = 101; initialDepth = 2840.092383; finalDepth = 2836.914645; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.0946289999997 # Actual altitude: 50 # Commanded vehicle depth:2840.092383 # Seafloor depth:-2882.187012 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 119.736860 meters # Minimum depth: 2880.833611 meters looking forward 200.000000 meters along route # Maximum depth: 2883.399812 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2840.833611 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.794407; longitude = -120.983145; captureRadius = 10; duration = 119; initialDepth = 2840.833611; finalDepth = 2840.092383; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.0946289999997 # Actual altitude: 50 # Commanded vehicle depth:2840.833611 # Seafloor depth:-2880.918037 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 119.736841 meters # Minimum depth: 2872.537636 meters looking forward 200.000000 meters along route # Maximum depth: 2882.673911 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2832.537636 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.793328; longitude = -120.983169; captureRadius = 10; duration = 119; initialDepth = 2832.537636; finalDepth = 2840.833611; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.9337719999999 # Actual altitude: 50 # Commanded vehicle depth:2832.537636 # Seafloor depth:-2877.471408 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 119.736820 meters # Minimum depth: 2872.537636 meters looking forward 200.000000 meters along route # Maximum depth: 2883.920387 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2832.537636 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792249; longitude = -120.983194; captureRadius = 10; duration = 119; initialDepth = 2832.537636; finalDepth = 2832.537636; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.5722890000002 # Actual altitude: 50.5722890000002 # Commanded vehicle depth:2832.537636 # Seafloor depth:-2883.109925 # 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 = 151.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 119.736799 meters # Minimum depth: 2881.514881 meters looking forward 200.000000 meters along route # Maximum depth: 2883.932451 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2841.514881 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.791170; longitude = -120.983218; captureRadius = 10; duration = 119; initialDepth = 2841.514881; finalDepth = 2832.537636; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.5722890000002 # Actual altitude: 50.5722890000002 # Commanded vehicle depth:2841.514881 # Seafloor depth:-2883.932451 # 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 = 151.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 119.736780 meters # Minimum depth: 2880.850112 meters looking forward 200.000000 meters along route # Maximum depth: 2882.939549 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2840.850112 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790090; longitude = -120.983242; captureRadius = 10; duration = 119; initialDepth = 2840.850112; finalDepth = 2841.514881; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.4175700000001 # Actual altitude: 50 # Commanded vehicle depth:2840.850112 # Seafloor depth:-2881.082549 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 119.736758 meters # Minimum depth: 2880.447206 meters looking forward 200.000000 meters along route # Maximum depth: 2881.007997 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2840.447206 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.789011; longitude = -120.983267; captureRadius = 10; duration = 119; initialDepth = 2840.447206; finalDepth = 2840.850112; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.5607910000003 # Actual altitude: 50 # Commanded vehicle depth:2840.447206 # Seafloor depth:-2881.007997 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 119.736739 meters # Minimum depth: 2879.114573 meters looking forward 200.000000 meters along route # Maximum depth: 2880.773819 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2839.114573 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.787932; longitude = -120.983291; captureRadius = 10; duration = 119; initialDepth = 2839.114573; finalDepth = 2840.447206; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.2272670000002 # Actual altitude: 50 # Commanded vehicle depth:2839.114573 # Seafloor depth:-2880.341840 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 119.736718 meters # Minimum depth: 2879.114573 meters looking forward 200.000000 meters along route # Maximum depth: 2880.267064 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2839.114573 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.786852; longitude = -120.983315; captureRadius = 10; duration = 119; initialDepth = 2839.114573; finalDepth = 2839.114573; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.2272670000002 # Actual altitude: 50 # Commanded vehicle depth:2839.114573 # Seafloor depth:-2879.130697 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 119.736698 meters # Minimum depth: 2879.890383 meters looking forward 200.000000 meters along route # Maximum depth: 2883.735243 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2839.890383 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.785773; longitude = -120.983340; captureRadius = 10; duration = 119; initialDepth = 2839.890383; finalDepth = 2839.114573; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.7162269999999 # Actual altitude: 50 # Commanded vehicle depth:2839.890383 # Seafloor depth:-2880.606610 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 119.736677 meters # Minimum depth: 2881.842238 meters looking forward 200.000000 meters along route # Maximum depth: 2883.941485 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2841.842238 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.784694; longitude = -120.983364; captureRadius = 10; duration = 119; initialDepth = 2841.842238; finalDepth = 2839.890383; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.0992469999997 # Actual altitude: 50 # Commanded vehicle depth:2841.842238 # Seafloor depth:-2883.941485 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 121.616879 meters # Minimum depth: 2883.074442 meters looking forward 200.000000 meters along route # Maximum depth: 2888.970337 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2843.074442 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.783615; longitude = -120.983388; captureRadius = 10; duration = 121; initialDepth = 2843.074442; finalDepth = 2841.842238; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.0992469999997 # Actual altitude: 50 # Commanded vehicle depth:2843.074442 # Seafloor depth:-2883.346167 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 3 # Segment length 48.234361 meters # Minimum depth: 2883.074442 meters looking forward 200.000000 meters along route # Maximum depth: 2890.250977 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2843.074442 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.782518; longitude = -120.983413; captureRadius = 10; duration = 48; initialDepth = 2843.074442; finalDepth = 2843.074442; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.1765350000001 # Actual altitude: 50 # Commanded vehicle depth:2843.074442 # Seafloor depth:-2890.250977 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 101.765639 meters # Minimum depth: 2885.384980 meters looking forward 200.000000 meters along route # Maximum depth: 2890.250977 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2845.384980 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.782510; longitude = -120.982892; captureRadius = 10; duration = 101; initialDepth = 2845.384980; finalDepth = 2843.074442; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.1765350000001 # Actual altitude: 50 # Commanded vehicle depth:2845.38498 # Seafloor depth:-2889.090218 # 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 2 # Segment length 4.703313 meters # Minimum depth: 2886.677245 meters looking forward 200.000000 meters along route # Maximum depth: 2890.250977 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2846.677245 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.782493; longitude = -120.981794; captureRadius = 10; duration = 4; initialDepth = 2846.677245; finalDepth = 2845.384980; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.705238 # Actual altitude: 50 # Commanded vehicle depth:2846.677245 # Seafloor depth:-2889.429749 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 119.733771 meters # Minimum depth: 2886.949533 meters looking forward 200.000000 meters along route # Maximum depth: 2889.429749 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2846.949533 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.782535; longitude = -120.981793; captureRadius = 10; duration = 119; initialDepth = 2846.949533; finalDepth = 2846.677245; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.752504 # Actual altitude: 50 # Commanded vehicle depth:2846.949533 # Seafloor depth:-2888.192732 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 119.733792 meters # Minimum depth: 2885.666507 meters looking forward 200.000000 meters along route # Maximum depth: 2887.407442 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2845.666507 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.783615; longitude = -120.981770; captureRadius = 10; duration = 119; initialDepth = 2845.666507; finalDepth = 2846.949533; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.243199 # Actual altitude: 50 # Commanded vehicle depth:2845.666507 # Seafloor depth:-2886.502551 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 119.733812 meters # Minimum depth: 2884.545025 meters looking forward 200.000000 meters along route # Maximum depth: 2885.963236 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2844.545025 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.784694; longitude = -120.981748; captureRadius = 10; duration = 119; initialDepth = 2844.545025; finalDepth = 2845.666507; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.8942219999999 # Actual altitude: 50 # Commanded vehicle depth:2844.545025 # Seafloor depth:-2885.439247 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 119.733833 meters # Minimum depth: 2884.087180 meters looking forward 200.000000 meters along route # Maximum depth: 2884.704719 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2844.087180 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.785773; longitude = -120.981725; captureRadius = 10; duration = 119; initialDepth = 2844.087180; finalDepth = 2844.545025; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.8942219999999 # Actual altitude: 50 # Commanded vehicle depth:2844.08718 # Seafloor depth:-2884.608665 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 119.733853 meters # Minimum depth: 2883.651088 meters looking forward 200.000000 meters along route # Maximum depth: 2884.180893 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2843.651088 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.786852; longitude = -120.981703; captureRadius = 10; duration = 119; initialDepth = 2843.651088; finalDepth = 2844.087180; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.5214850000002 # Actual altitude: 50 # Commanded vehicle depth:2843.651088 # Seafloor depth:-2883.998399 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 119.733873 meters # Minimum depth: 2883.651088 meters looking forward 200.000000 meters along route # Maximum depth: 2885.260561 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2843.651088 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.787932; longitude = -120.981680; captureRadius = 10; duration = 119; initialDepth = 2843.651088; finalDepth = 2843.651088; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.0479700000001 # Actual altitude: 50 # Commanded vehicle depth:2843.651088 # Seafloor depth:-2884.699058 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 119.733893 meters # Minimum depth: 2884.853071 meters looking forward 200.000000 meters along route # Maximum depth: 2886.251987 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2844.853071 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.789011; longitude = -120.981658; captureRadius = 10; duration = 119; initialDepth = 2844.853071; finalDepth = 2843.651088; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.0479700000001 # Actual altitude: 50 # Commanded vehicle depth:2844.853071 # Seafloor depth:-2885.125110 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 119.733914 meters # Minimum depth: 2884.061179 meters looking forward 200.000000 meters along route # Maximum depth: 2886.251987 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2844.061179 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790090; longitude = -120.981635; captureRadius = 10; duration = 119; initialDepth = 2844.061179; finalDepth = 2844.853071; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.2720389999999 # Actual altitude: 50 # Commanded vehicle depth:2844.061179 # Seafloor depth:-2884.329511 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 119.733934 meters # Minimum depth: 2884.061179 meters looking forward 200.000000 meters along route # Maximum depth: 2886.442694 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2844.061179 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.791170; longitude = -120.981613; captureRadius = 10; duration = 119; initialDepth = 2844.061179; finalDepth = 2844.061179; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.2683320000001 # Actual altitude: 50 # Commanded vehicle depth:2844.061179 # Seafloor depth:-2884.324865 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 119.733955 meters # Minimum depth: 2885.639725 meters looking forward 200.000000 meters along route # Maximum depth: 2886.688664 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2845.639725 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792249; longitude = -120.981590; captureRadius = 10; duration = 119; initialDepth = 2845.639725; finalDepth = 2844.061179; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.7812079999999 # Actual altitude: 50 # Commanded vehicle depth:2845.639725 # Seafloor depth:-2886.420933 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 119.733975 meters # Minimum depth: 2881.869890 meters looking forward 200.000000 meters along route # Maximum depth: 2886.688664 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2841.869890 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.793328; longitude = -120.981567; captureRadius = 10; duration = 119; initialDepth = 2841.869890; finalDepth = 2845.639725; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.6493639999999 # Actual altitude: 50 # Commanded vehicle depth:2841.86989 # Seafloor depth:-2884.519254 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 103.769461 meters # Minimum depth: 2881.640014 meters looking forward 200.000000 meters along route # Maximum depth: 2883.376392 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2841.640014 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.794407; longitude = -120.981545; captureRadius = 10; duration = 103; initialDepth = 2841.640014; finalDepth = 2841.869890; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.6493639999999 # Actual altitude: 50 # Commanded vehicle depth:2841.640014 # Seafloor depth:-2881.640014 # 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 1 # Segment length 100.365430 meters # Minimum depth: 2881.658059 meters looking forward 200.000000 meters along route # Maximum depth: 2883.885047 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2841.658059 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795343; longitude = -120.981525; captureRadius = 10; duration = 100; initialDepth = 2841.658059; finalDepth = 2841.640014; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.0782690000001 # Actual altitude: 50 # Commanded vehicle depth:2841.658059 # Seafloor depth:-2883.736328 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.656398 meters # Minimum depth: 2883.304146 meters looking forward 200.000000 meters along route # Maximum depth: 2884.338838 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2843.304146 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795715; longitude = -120.980537; captureRadius = 10; duration = 109; initialDepth = 2843.304146; finalDepth = 2841.658059; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.0782690000001 # Actual altitude: 50 # Commanded vehicle depth:2843.304146 # Seafloor depth:-2883.304146 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.656018 meters # Minimum depth: 2883.821052 meters looking forward 200.000000 meters along route # Maximum depth: 2885.693692 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2843.821052 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796122; longitude = -120.979458; captureRadius = 10; duration = 109; initialDepth = 2843.821052; finalDepth = 2843.304146; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.6094260000004 # Actual altitude: 50 # Commanded vehicle depth:2843.821052 # Seafloor depth:-2884.430478 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.655639 meters # Minimum depth: 2884.859210 meters looking forward 200.000000 meters along route # Maximum depth: 2885.693692 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2844.859210 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796528; longitude = -120.978379; captureRadius = 10; duration = 109; initialDepth = 2844.859210; finalDepth = 2843.821052; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.6094260000004 # Actual altitude: 50 # Commanded vehicle depth:2844.85921 # Seafloor depth:-2884.859210 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.655259 meters # Minimum depth: 2858.288114 meters looking forward 200.000000 meters along route # Maximum depth: 2885.592219 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2818.288114 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796935; longitude = -120.977300; captureRadius = 10; duration = 109; initialDepth = 2818.288114; finalDepth = 2844.859210; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.442509 # Actual altitude: 58.442509 # Commanded vehicle depth:2818.288114 # Seafloor depth:-2876.730623 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 233.77; 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 = 233.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.654880 meters # Minimum depth: 2858.288114 meters looking forward 200.000000 meters along route # Maximum depth: 2885.350508 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2818.288114 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797342; longitude = -120.976220; captureRadius = 10; duration = 109; initialDepth = 2818.288114; finalDepth = 2818.288114; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.442509 # Actual altitude: 58.442509 # Commanded vehicle depth:2818.288114 # Seafloor depth:-2867.914045 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 233.77; 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 = 233.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.654501 meters # Minimum depth: 2883.567947 meters looking forward 200.000000 meters along route # Maximum depth: 2886.705326 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2843.567947 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797748; longitude = -120.975141; captureRadius = 10; duration = 109; initialDepth = 2843.567947; finalDepth = 2818.288114; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.625931 # Actual altitude: 50 # Commanded vehicle depth:2843.567947 # Seafloor depth:-2885.487986 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.654121 meters # Minimum depth: 2886.705326 meters looking forward 200.000000 meters along route # Maximum depth: 2887.552126 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2846.705326 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798155; longitude = -120.974062; captureRadius = 10; duration = 109; initialDepth = 2846.705326; finalDepth = 2843.567947; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.9200390000001 # Actual altitude: 50 # Commanded vehicle depth:2846.705326 # Seafloor depth:-2886.746215 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.653742 meters # Minimum depth: 2885.736448 meters looking forward 200.000000 meters along route # Maximum depth: 2887.552126 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2845.736448 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798562; longitude = -120.972983; captureRadius = 10; duration = 109; initialDepth = 2845.736448; finalDepth = 2846.705326; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.0408890000003 # Actual altitude: 50 # Commanded vehicle depth:2845.736448 # Seafloor depth:-2885.736448 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.653362 meters # Minimum depth: 2886.234588 meters looking forward 200.000000 meters along route # Maximum depth: 2889.092440 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2846.234588 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798968; longitude = -120.971903; captureRadius = 10; duration = 109; initialDepth = 2846.234588; finalDepth = 2845.736448; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.9443810000002 # Actual altitude: 50 # Commanded vehicle depth:2846.234588 # Seafloor depth:-2888.178969 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.652983 meters # Minimum depth: 2888.159916 meters looking forward 200.000000 meters along route # Maximum depth: 2889.094243 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2848.159916 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799375; longitude = -120.970824; captureRadius = 10; duration = 109; initialDepth = 2848.159916; finalDepth = 2846.234588; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.9443810000002 # Actual altitude: 50 # Commanded vehicle depth:2848.159916 # Seafloor depth:-2889.094243 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.652604 meters # Minimum depth: 2888.159916 meters looking forward 200.000000 meters along route # Maximum depth: 2890.314282 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2848.159916 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799781; longitude = -120.969745; captureRadius = 10; duration = 109; initialDepth = 2848.159916; finalDepth = 2848.159916; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.9343269999999 # Actual altitude: 50 # Commanded vehicle depth:2848.159916 # Seafloor depth:-2888.856291 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.652225 meters # Minimum depth: 2889.567112 meters looking forward 200.000000 meters along route # Maximum depth: 2894.170294 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2849.567112 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800188; longitude = -120.968665; captureRadius = 10; duration = 109; initialDepth = 2849.567112; finalDepth = 2848.159916; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.4209839999999 # Actual altitude: 50 # Commanded vehicle depth:2849.567112 # Seafloor depth:-2890.988096 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.651846 meters # Minimum depth: 2893.630901 meters looking forward 200.000000 meters along route # Maximum depth: 2894.170294 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2853.630901 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800595; longitude = -120.967586; captureRadius = 10; duration = 109; initialDepth = 2853.630901; finalDepth = 2849.567112; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.4209839999999 # Actual altitude: 50 # Commanded vehicle depth:2853.630901 # Seafloor depth:-2894.022101 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.651466 meters # Minimum depth: 2893.630901 meters looking forward 200.000000 meters along route # Maximum depth: 2894.276510 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2853.630901 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801001; longitude = -120.966507; captureRadius = 10; duration = 109; initialDepth = 2853.630901; finalDepth = 2853.630901; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.4015829999998 # Actual altitude: 50 # Commanded vehicle depth:2853.630901 # Seafloor depth:-2894.032484 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.651087 meters # Minimum depth: 2894.276510 meters looking forward 200.000000 meters along route # Maximum depth: 2897.412133 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2854.276510 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801408; longitude = -120.965428; captureRadius = 10; duration = 109; initialDepth = 2854.276510; finalDepth = 2853.630901; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.8554399999998 # Actual altitude: 50 # Commanded vehicle depth:2854.27651 # Seafloor depth:-2897.131950 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.650708 meters # Minimum depth: 2890.758742 meters looking forward 200.000000 meters along route # Maximum depth: 2897.412133 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2850.758742 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801815; longitude = -120.964348; captureRadius = 10; duration = 109; initialDepth = 2850.758742; finalDepth = 2854.276510; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.968832 # Actual altitude: 50 # Commanded vehicle depth:2850.758742 # Seafloor depth:-2893.727574 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.650329 meters # Minimum depth: 2881.703930 meters looking forward 200.000000 meters along route # Maximum depth: 2891.127788 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2841.703930 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802221; longitude = -120.963269; captureRadius = 10; duration = 109; initialDepth = 2841.703930; finalDepth = 2850.758742; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.1760999999997 # Actual altitude: 50 # Commanded vehicle depth:2841.70393 # Seafloor depth:-2887.880030 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.649949 meters # Minimum depth: 2873.869967 meters looking forward 200.000000 meters along route # Maximum depth: 2884.958294 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2833.869967 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802628; longitude = -120.962190; captureRadius = 10; duration = 109; initialDepth = 2833.869967; finalDepth = 2841.703930; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.921722 # Actual altitude: 50 # Commanded vehicle depth:2833.869967 # Seafloor depth:-2880.791689 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.649571 meters # Minimum depth: 2858.681178 meters looking forward 200.000000 meters along route # Maximum depth: 2873.869967 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2818.681178 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803035; longitude = -120.961110; captureRadius = 10; duration = 109; initialDepth = 2818.681178; finalDepth = 2833.869967; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.9193220000002 # Actual altitude: 50 # Commanded vehicle depth:2818.681178 # Seafloor depth:-2866.600500 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.649191 meters # Minimum depth: 2840.258252 meters looking forward 200.000000 meters along route # Maximum depth: 2862.790070 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2800.258252 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803441; longitude = -120.960031; captureRadius = 10; duration = 109; initialDepth = 2800.258252; finalDepth = 2818.681178; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.8451209999998 # Actual altitude: 50.8451209999998 # Commanded vehicle depth:2800.258252 # Seafloor depth:-2851.103373 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.38; 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 = 203.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.648813 meters # Minimum depth: 2809.997306 meters looking forward 200.000000 meters along route # Maximum depth: 2841.519240 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2769.997306 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803848; longitude = -120.958952; captureRadius = 10; duration = 109; initialDepth = 2769.997306; finalDepth = 2800.258252; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.4472029999997 # Actual altitude: 60.4472029999997 # Commanded vehicle depth:2769.997306 # Seafloor depth:-2830.444509 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 241.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.18; MB_Bottom_Detect_Filter_Max_Range = 241.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 181.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.648433 meters # Minimum depth: 2795.524453 meters looking forward 200.000000 meters along route # Maximum depth: 2818.733855 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2755.524453 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804255; longitude = -120.957873; captureRadius = 10; duration = 109; initialDepth = 2755.524453; finalDepth = 2769.997306; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.4472029999997 # Actual altitude: 60.4472029999997 # Commanded vehicle depth:2755.524453 # Seafloor depth:-2807.408952 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 241.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.18; MB_Bottom_Detect_Filter_Max_Range = 241.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 181.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.648055 meters # Minimum depth: 2772.191026 meters looking forward 200.000000 meters along route # Maximum depth: 2795.524453 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2732.191026 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804661; longitude = -120.956793; captureRadius = 10; duration = 109; initialDepth = 2732.191026; finalDepth = 2755.524453; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.6496780000002 # Actual altitude: 52.6496780000002 # Commanded vehicle depth:2732.191026 # Seafloor depth:-2784.840704 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.60; 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 = 210.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.647675 meters # Minimum depth: 2744.730400 meters looking forward 200.000000 meters along route # Maximum depth: 2779.974120 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2704.730400 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.805068; longitude = -120.955714; captureRadius = 10; duration = 109; initialDepth = 2704.730400; finalDepth = 2732.191026; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.9977990000002 # Actual altitude: 53.9977990000002 # Commanded vehicle depth:2704.7304 # Seafloor depth:-2758.728199 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.60; MB_Bottom_Detect_Filter_Max_Range = 215.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 161.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.647296 meters # Minimum depth: 2704.217398 meters looking forward 200.000000 meters along route # Maximum depth: 2745.949953 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2664.217398 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.805475; longitude = -120.954635; captureRadius = 10; duration = 109; initialDepth = 2664.217398; finalDepth = 2704.730400; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.4920850000003 # Actual altitude: 65.4920850000003 # Commanded vehicle depth:2664.217398 # Seafloor depth:-2729.709483 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 261.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.20; MB_Bottom_Detect_Filter_Max_Range = 261.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 196.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.646918 meters # Minimum depth: 2684.037369 meters looking forward 200.000000 meters along route # Maximum depth: 2714.531627 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2644.037369 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.805881; longitude = -120.953556; captureRadius = 10; duration = 109; initialDepth = 2644.037369; finalDepth = 2664.217398; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.4920850000003 # Actual altitude: 65.4920850000003 # Commanded vehicle depth:2644.037369 # Seafloor depth:-2699.927940 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 261.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.20; MB_Bottom_Detect_Filter_Max_Range = 261.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 196.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.646538 meters # Minimum depth: 2656.854168 meters looking forward 200.000000 meters along route # Maximum depth: 2684.037369 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2616.854168 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.806288; longitude = -120.952476; captureRadius = 10; duration = 109; initialDepth = 2616.854168; finalDepth = 2644.037369; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.8905709999999 # Actual altitude: 55.8905709999999 # Commanded vehicle depth:2616.854168 # Seafloor depth:-2669.897425 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.36; MB_Bottom_Detect_Filter_Max_Range = 223.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 167.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.646160 meters # Minimum depth: 2624.525854 meters looking forward 200.000000 meters along route # Maximum depth: 2664.668648 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2584.525854 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.806694; longitude = -120.951397; captureRadius = 10; duration = 109; initialDepth = 2584.525854; finalDepth = 2616.854168; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.1773020000001 # Actual altitude: 59.1773020000001 # Commanded vehicle depth:2584.525854 # Seafloor depth:-2643.703156 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 236.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.67; MB_Bottom_Detect_Filter_Max_Range = 236.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 177.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.645781 meters # Minimum depth: 2577.601141 meters looking forward 200.000000 meters along route # Maximum depth: 2625.367772 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2537.601141 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.807101; longitude = -120.950318; captureRadius = 10; duration = 109; initialDepth = 2537.601141; finalDepth = 2584.525854; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.920408 # Actual altitude: 70.920408 # Commanded vehicle depth:2537.601141 # Seafloor depth:-2608.521549 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 283.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.37; MB_Bottom_Detect_Filter_Max_Range = 283.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.645401 meters # Minimum depth: 2553.453032 meters looking forward 200.000000 meters along route # Maximum depth: 2590.008537 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2513.453032 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.807508; longitude = -120.949238; captureRadius = 10; duration = 109; initialDepth = 2513.453032; finalDepth = 2537.601141; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.920408 # Actual altitude: 70.920408 # Commanded vehicle depth:2513.453032 # Seafloor depth:-2572.400514 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 283.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.37; MB_Bottom_Detect_Filter_Max_Range = 283.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.645023 meters # Minimum depth: 2522.201858 meters looking forward 200.000000 meters along route # Maximum depth: 2553.453032 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2482.201858 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.807914; longitude = -120.948159; captureRadius = 10; duration = 109; initialDepth = 2482.201858; finalDepth = 2513.453032; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.947482 # Actual altitude: 58.947482 # Commanded vehicle depth:2482.201858 # Seafloor depth:-2537.197287 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 235.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.58; MB_Bottom_Detect_Filter_Max_Range = 235.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 176.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.644645 meters # Minimum depth: 2499.996361 meters looking forward 200.000000 meters along route # Maximum depth: 2531.676378 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2459.996361 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.808321; longitude = -120.947080; captureRadius = 10; duration = 109; initialDepth = 2459.996361; finalDepth = 2482.201858; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.9954290000001 # Actual altitude: 54.9954290000001 # Commanded vehicle depth:2459.996361 # Seafloor depth:-2510.583820 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.98; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.00; MB_Bottom_Detect_Filter_Max_Range = 219.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.644265 meters # Minimum depth: 2469.297665 meters looking forward 200.000000 meters along route # Maximum depth: 2500.108121 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2429.297665 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.808728; longitude = -120.946001; captureRadius = 10; duration = 109; initialDepth = 2429.297665; finalDepth = 2459.996361; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.5824579999999 # Actual altitude: 59.5824579999999 # Commanded vehicle depth:2429.297665 # Seafloor depth:-2488.880123 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 238.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.83; MB_Bottom_Detect_Filter_Max_Range = 238.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 178.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.643887 meters # Minimum depth: 2452.250801 meters looking forward 200.000000 meters along route # Maximum depth: 2478.734754 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2412.250801 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.809134; longitude = -120.944921; captureRadius = 10; duration = 109; initialDepth = 2412.250801; finalDepth = 2429.297665; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.5824579999999 # Actual altitude: 59.5824579999999 # Commanded vehicle depth:2412.250801 # Seafloor depth:-2464.395442 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 238.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.83; MB_Bottom_Detect_Filter_Max_Range = 238.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 178.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.643507 meters # Minimum depth: 2422.427770 meters looking forward 200.000000 meters along route # Maximum depth: 2452.250801 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2382.427770 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.809541; longitude = -120.943842; captureRadius = 10; duration = 109; initialDepth = 2382.427770; finalDepth = 2412.250801; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.0272210000003 # Actual altitude: 54.0272210000003 # Commanded vehicle depth:2382.42777 # Seafloor depth:-2436.454991 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.61; MB_Bottom_Detect_Filter_Max_Range = 216.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.643129 meters # Minimum depth: 2387.985065 meters looking forward 200.000000 meters along route # Maximum depth: 2422.427770 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2347.985065 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.809948; longitude = -120.942763; captureRadius = 10; duration = 109; initialDepth = 2347.985065; finalDepth = 2382.427770; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.6197280000001 # Actual altitude: 56.6197280000001 # Commanded vehicle depth:2347.985065 # Seafloor depth:-2404.604793 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.65; MB_Bottom_Detect_Filter_Max_Range = 226.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 169.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.642751 meters # Minimum depth: 2340.640454 meters looking forward 200.000000 meters along route # Maximum depth: 2388.453783 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2300.640454 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.810354; longitude = -120.941683; captureRadius = 10; duration = 109; initialDepth = 2300.640454; finalDepth = 2347.985065; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.2115309999999 # Actual altitude: 69.2115309999999 # Commanded vehicle depth:2300.640454 # Seafloor depth:-2369.851985 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 276.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.68; MB_Bottom_Detect_Filter_Max_Range = 276.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.642371 meters # Minimum depth: 2318.754362 meters looking forward 200.000000 meters along route # Maximum depth: 2351.360092 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2278.754362 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.810761; longitude = -120.940604; captureRadius = 10; duration = 109; initialDepth = 2278.754362; finalDepth = 2300.640454; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.2115309999999 # Actual altitude: 69.2115309999999 # Commanded vehicle depth:2278.754362 # Seafloor depth:-2334.268674 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 276.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.68; MB_Bottom_Detect_Filter_Max_Range = 276.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.641993 meters # Minimum depth: 2285.799588 meters looking forward 200.000000 meters along route # Maximum depth: 2318.754362 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2245.799588 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.811168; longitude = -120.939525; captureRadius = 10; duration = 109; initialDepth = 2245.799588; finalDepth = 2278.754362; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.756586 # Actual altitude: 57.756586 # Commanded vehicle depth:2245.799588 # Seafloor depth:-2303.556174 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 231.03; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.10; MB_Bottom_Detect_Filter_Max_Range = 231.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 173.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.641615 meters # Minimum depth: 2251.396993 meters looking forward 200.000000 meters along route # Maximum depth: 2285.799588 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2211.396993 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.811574; longitude = -120.938446; captureRadius = 10; duration = 109; initialDepth = 2211.396993; finalDepth = 2245.799588; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.1826340000002 # Actual altitude: 60.1826340000002 # Commanded vehicle depth:2211.396993 # Seafloor depth:-2271.579627 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.73; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.07; MB_Bottom_Detect_Filter_Max_Range = 240.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 180.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.641236 meters # Minimum depth: 2206.103479 meters looking forward 200.000000 meters along route # Maximum depth: 2252.696049 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2166.103479 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.811981; longitude = -120.937366; captureRadius = 10; duration = 109; initialDepth = 2166.103479; finalDepth = 2211.396993; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.1123769999999 # Actual altitude: 67.1123769999999 # Commanded vehicle depth:2166.103479 # Seafloor depth:-2233.215856 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 268.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.84; MB_Bottom_Detect_Filter_Max_Range = 268.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.640857 meters # Minimum depth: 2188.724269 meters looking forward 200.000000 meters along route # Maximum depth: 2214.801478 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2148.724269 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.812387; longitude = -120.936287; captureRadius = 10; duration = 109; initialDepth = 2148.724269; finalDepth = 2166.103479; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.1123769999999 # Actual altitude: 67.1123769999999 # Commanded vehicle depth:2148.724269 # Seafloor depth:-2200.280672 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 268.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.84; MB_Bottom_Detect_Filter_Max_Range = 268.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.640478 meters # Minimum depth: 2170.215434 meters looking forward 200.000000 meters along route # Maximum depth: 2188.724269 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2130.215434 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.812794; longitude = -120.935208; captureRadius = 10; duration = 109; initialDepth = 2130.215434; finalDepth = 2148.724269; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.556403 # Actual altitude: 51.556403 # Commanded vehicle depth:2130.215434 # Seafloor depth:-2177.186969 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.23; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.62; MB_Bottom_Detect_Filter_Max_Range = 206.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 146.186716 meters # Minimum depth: 2159.626074 meters looking forward 200.000000 meters along route # Maximum depth: 2165.522161 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2119.626074 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.813201; longitude = -120.934129; captureRadius = 10; duration = 146; initialDepth = 2119.626074; finalDepth = 2130.215434; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.9715349999997 # Actual altitude: 50 # Commanded vehicle depth:2119.626074 # Seafloor depth:-2165.522161 # 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; } # ####################################################### ####################################################### # ####################################################### # Turn Mapping sonars on and start logging. # behavior reson { duration = 6; Log_Mode = 1; } # Set sonar parameters # Commanded altitude: 45.8960870000001 # Actual altitude: 50 # Commanded vehicle depth:2117.026855 # Seafloor depth:-2157.026855 # 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 = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_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; Log_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint behavior to get back to start of line 1 # Segment length 500.000000 meters # Minimum depth: 2157.026855 meters looking forward 200.000000 meters along route # Maximum depth: 2165.522161 meters looking forward 200.000000 meters along route # Vehicle depth: 2117.026855 meters behavior waypoint { latitude = 33.813743; longitude = -120.932689; captureRadius = 10; duration = 600; depth = 2117.026855; speed = 1.500000; } behavior setpoint { duration = 300; heading = 244.571827; speed = 0.0; verticalMode = pitch; pitch = 0; } # # Spiral descend behavior to get to proper depth at start of line 1 # Behavior depth of 2117.026855 meters set by local depth and desired altitude behavior descend { duration = 6207; 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: 2157.026855 meters looking forward 200.000000 meters along route # Maximum depth: 2165.522161 meters looking forward 200.000000 meters along route # Vehicle depth: 50.000000 meters behavior waypoint { latitude = 33.813743; longitude = -120.932689; captureRadius = 10; duration = 500; depth = 50.000000; speed = 1.500000; } ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 244.571827; 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 = 244.571827; speed = 1.500000; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = 600; minHits = 30; abortOnTimeout = True; } ####################################################### # Set sonar parameters, turn pinging on, power zero and logging off # behavior reson { duration = 6; MB_Mode = 1; Log_Mode = 0; SBP_Mode = 1; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Mode = 1; LoSS_Power = 0.0; LoSS_Range = 200.00; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 200; MB_Power = 0; MB_Range = 160.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.00; MB_Bottom_Detect_Filter_Max_Range = 160.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; Snippet_Mode = 0; Window_Size = 0; } # ####################################################### #######################################################