# 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: Hueneme_2v1.rte # Mission File: Hueneme_2v1.cfg # Distance: 55923.776760 (m) # Estimated Time: 38722 (s) 10.756 (hr) # Abort Time: 50339 (s) # Max battery life: 64800 (s) # Safety margin: 1800 (s) # Ascend time: 519 (s) # Way Points: 129 # Route Points: 1099 # Survey behavior: WaypointDepth # Descent style: Waypoint descent # Mapping sonar control enabled: # # Mission Parameters: # Vehicle Speed: 1.500000 (m/s) 2.915769 (knots) # Desired Vehicle Altitude: 40 (m) # Minimum Vehicle Altitude: 50 (m) # Abort Vehicle Altitude: 30 (m) # Maximum Vehicle Depth: 630 (m) # Abort Vehicle Depth: 680 (m) # Descent Vehicle Depth: 3 (m) # Forward Looking Distance: (m) # Waypoint Spacing: 50 (m) # GPS Duration: 600 (s) # Descend Rate: 0.417 (m/s) # Ascend Rate: 1 (m/s) # Initial descend Duration: 300 (s) # Setpoint Duration: 30 (s) # # The primary waypoints from the route file are: # # 0 -119.221050 34.135199 -79.288643 0.000000 3 # 1 -119.223289 34.132254 -140.775921 386.527165 1 # 2 -119.222645 34.131201 -153.379612 517.584360 1 # 3 -119.221989 34.129368 -165.619549 729.747842 1 # 4 -119.221989 34.127655 -175.799667 919.784212 1 # 5 -119.222428 34.125430 -184.395889 1169.921377 1 # 6 -119.223108 34.123928 -187.941467 1347.969106 1 # 7 -119.223945 34.122906 -192.895817 1485.148107 1 # 8 -119.226106 34.122876 -208.177052 1684.555187 1 # 9 -119.228814 34.121884 -214.868019 1957.567028 1 # 10 -119.231533 34.120922 -235.819084 2230.190983 1 # 11 -119.233485 34.120020 -245.216415 2436.225089 1 # 12 -119.233990 34.118878 -249.303665 2571.213168 1 # 13 -119.234050 34.117706 -252.697418 2701.350551 1 # 14 -119.233075 34.116714 -251.877434 2843.492627 1 # 15 -119.232281 34.116113 -260.365005 2942.552000 1 # 16 -119.232281 34.114940 -259.312035 3072.682355 1 # 17 -119.231992 34.113919 -261.955338 3189.046824 1 # 18 -119.231197 34.113047 -264.240723 3310.453110 1 # 19 -119.229356 34.112686 -272.299675 3484.985828 1 # 20 -119.227920 34.112566 -277.465019 3618.158118 1 # 21 -119.226330 34.111905 -282.402145 3782.178978 1 # 22 -119.225463 34.110822 -286.346939 3926.523497 1 # 23 -119.224914 34.109711 -290.367050 4059.780317 1 # 24 -119.225708 34.108418 -297.098625 4220.851587 1 # 25 -119.227081 34.107546 -301.348869 4380.259072 1 # 26 -119.227947 34.106194 -307.988274 4550.208040 1 # 27 -119.228715 34.105232 -312.946205 4678.319122 1 # 28 -119.230150 34.104270 -318.550484 4848.395764 1 # 29 -119.232714 34.103308 -329.306755 5107.965229 1 # 30 -119.234808 34.100663 -334.459229 5459.313609 1 # 31 -119.236397 34.097177 -345.761068 5872.962247 1 # 32 -119.237047 34.095553 -324.965495 6062.755531 1 # 33 -119.237408 34.093089 -319.009440 6338.208607 1 # 34 -119.236830 34.090504 -330.180664 6629.892009 1 # 35 -119.235747 34.088430 -338.291341 6880.760697 1 # 36 -119.234664 34.086446 -382.025452 7122.492398 1 # 37 -119.234447 34.084552 -389.377663 7333.560916 1 # 38 -119.235205 34.082659 -393.789886 7554.914880 1 # 39 -119.236289 34.080946 -400.369812 7769.684704 1 # 40 -119.239322 34.076617 -407.902550 8325.587543 1 # 41 -119.242139 34.073371 -420.390800 8769.774556 1 # 42 -119.243439 34.071658 -420.377991 8994.534743 1 # 43 -119.244305 34.069043 -429.765503 9295.452459 1 # 44 -119.243963 34.066758 -418.586479 9550.904394 1 # 45 -119.244614 34.064414 -437.747688 9817.798435 1 # 46 -119.245264 34.061889 -408.221970 10104.273121 1 # 47 -119.246998 34.060266 -437.798134 10345.211281 1 # 48 -119.249383 34.058643 -460.634682 10629.662587 1 # 49 -119.252202 34.055397 -476.827377 11073.991263 1 # 50 -119.252755 34.053804 -481.516113 11257.944872 1 # 51 -119.253405 34.051189 -488.262390 11554.192012 1 # 52 -119.253550 34.049896 -490.335930 11698.258535 1 # 53 -119.252791 34.048814 -494.612839 11837.257947 1 # 54 -119.251491 34.047732 -498.205521 12007.022317 1 # 55 -119.249722 34.047041 -499.721184 12187.473891 1 # 56 -119.247808 34.047101 -505.124344 12364.349250 1 # 57 -119.246565 34.048002 -508.949417 12516.555120 1 # 58 -119.243746 34.048544 -512.406319 12783.728056 1 # 59 -119.241578 34.047642 -518.389633 13007.545720 1 # 60 -119.239627 34.045838 -524.097122 13276.827197 1 # 61 -119.233123 34.037543 -546.882568 14375.732637 1 # 62 -119.228932 34.033815 -558.442703 14942.182208 1 # 63 -119.224235 34.029788 -567.093735 15564.901141 1 # 64 -119.221561 34.026061 -578.334717 16046.513133 1 # 65 -119.222067 34.024377 -581.517014 16239.087257 1 # 66 -119.224018 34.023476 -583.633820 16445.164060 1 # 67 -119.226619 34.022213 -587.661652 16723.291914 1 # 68 -119.232256 34.018967 -594.397537 17356.388723 1 # 69 -119.239989 34.017584 -603.370728 18087.027288 1 # 70 -119.243891 34.012895 -610.862885 18719.899432 1 # 71 -119.252202 33.997506 -647.429886 20591.845487 1 # 72 -119.255598 33.989811 -680.407898 21501.356892 4 # 73 -119.257622 33.990653 -681.287842 21710.418670 3 # 74 -119.254153 33.997867 -646.310425 22572.528516 1 # 75 -119.249094 34.007305 -622.962906 23719.152169 1 # 76 -119.246782 34.010130 -617.862411 24098.418261 1 # 77 -119.244975 34.013256 -613.439240 24483.296299 1 # 78 -119.243241 34.016322 -606.933563 24859.262532 1 # 79 -119.240422 34.018306 -603.134369 25200.229650 1 # 80 -119.233123 34.020410 -589.037415 25913.736145 1 # 81 -119.227848 34.023175 -575.834076 26489.510604 1 # 82 -119.223295 34.025159 -565.914459 26964.182211 1 # 83 -119.225463 34.028946 -546.812332 27429.582284 1 # 84 -119.230305 34.032493 -523.397736 28025.268140 1 # 85 -119.235002 34.036701 -515.704147 28662.537972 1 # 86 -119.241506 34.044997 -499.265671 29761.540430 1 # 87 -119.244197 34.047311 -498.403015 30118.827856 1 # 88 -119.250191 34.049355 -477.079948 30716.987512 1 # 89 -119.251600 34.051249 -471.404160 30964.126536 1 # 90 -119.250684 34.055036 -464.176949 31392.678720 1 # 91 -119.251816 34.057290 -464.515121 31663.700087 1 # 92 -119.251058 34.058914 -447.817818 31856.980642 1 # 93 -119.248950 34.060987 -442.122185 32158.263605 1 # 94 -119.246493 34.063031 -438.019196 32479.015154 1 # 95 -119.245264 34.067119 -438.510818 32946.508901 4 # 96 -119.242590 34.067900 -420.517143 33208.144586 3 # 97 -119.242897 34.065256 -423.160075 33502.870232 1 # 98 -119.244305 34.063633 -447.247233 33724.972522 1 # 99 -119.248205 34.063182 -435.344116 34088.506551 1 # 100 -119.250901 34.060807 -433.998695 34450.923007 1 # 101 -119.249383 34.056118 -461.154457 34989.663748 1 # 102 -119.249961 34.051489 -435.600822 35505.961532 1 # 103 -119.245914 34.049626 -481.114754 35933.013549 1 # 104 -119.245264 34.046019 -492.856636 36337.642467 1 # 105 -119.240278 34.040789 -502.894440 37078.354389 1 # 106 -119.238037 34.038324 -511.701515 37421.304435 1 # 107 -119.233990 34.033395 -485.172256 38083.651633 1 # 108 -119.225246 34.026061 -553.384094 39230.047913 1 # 109 -119.233268 34.021552 -587.494308 40124.075367 1 # 110 -119.238977 34.016082 -599.931351 40928.039766 1 # 111 -119.242373 34.012354 -605.702148 41447.141396 1 # 112 -119.250467 33.996965 -648.765381 43310.953513 1 # 113 -119.253502 33.989391 -683.212143 44196.757972 4 # 114 -119.258055 33.992997 -661.758240 44777.312814 3 # 115 -119.251262 33.990893 -678.097412 45447.018297 1 # 116 -119.240856 34.011813 -598.144852 47959.094733 1 # 117 -119.234858 34.017524 -599.019989 48800.773324 1 # 118 -119.228137 34.020229 -590.560547 49490.348320 1 # 119 -119.228065 34.026241 -552.904907 50157.330574 1 # 120 -119.223729 34.030930 -552.632904 50813.823785 1 # 121 -119.232906 34.039707 -523.567749 52104.731305 1 # 122 -119.234569 34.041931 -518.544083 52395.351026 1 # 123 -119.245714 34.045057 -493.946737 53481.420104 1 # 124 -119.246364 34.046049 -493.037679 53606.765523 1 # 125 -119.244739 34.049746 -479.991455 54043.497615 1 # 126 -119.245533 34.050888 -461.976156 54189.912608 1 # 127 -119.249745 34.053834 -444.158966 54697.903373 1 # 128 -119.246725 34.064594 -433.114665 55923.776760 4 # # A total of 1099 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 39600; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 630.000000; abortDepth = 680.000000; minAltitude = 50.000000; abortAltitude = 30.000000; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = 600; minHits = 2; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 519; 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 128 # Segment length 62.348219 meters # Minimum depth: 433.114665 meters looking forward 0.000000 meters along route # Maximum depth: 433.114665 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 393.114665 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.064594; longitude = -119.246725; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 395.671088; finalDepth = 393.114665; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:393.114665 # Seafloor depth:-433.114665 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 128 # Segment length 62.348219 meters # Minimum depth: 435.671088 meters looking forward 0.000000 meters along route # Maximum depth: 435.671088 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 395.671088 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.064204; longitude = -119.246835; captureRadius = 10; duration = 62; initialDepth = 397.629549; finalDepth = 395.671088; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:395.671088 # Seafloor depth:-435.671088 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 128 # Segment length 62.348219 meters # Minimum depth: 437.629549 meters looking forward 0.000000 meters along route # Maximum depth: 437.629549 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 397.629549 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.063753; longitude = -119.246961; captureRadius = 10; duration = 62; initialDepth = 398.852334; finalDepth = 397.629549; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:397.629549 # Seafloor depth:-437.629549 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 128 # Segment length 62.348219 meters # Minimum depth: 438.852334 meters looking forward 0.000000 meters along route # Maximum depth: 438.852334 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 398.852334 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.063302; longitude = -119.247088; captureRadius = 10; duration = 62; initialDepth = 390.835911; finalDepth = 398.852334; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:398.852334 # Seafloor depth:-438.852334 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 128 # Segment length 62.348219 meters # Minimum depth: 430.835911 meters looking forward 0.000000 meters along route # Maximum depth: 430.835911 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 390.835911 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.062851; longitude = -119.247214; captureRadius = 10; duration = 62; initialDepth = 389.639148; finalDepth = 390.835911; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:390.835911 # Seafloor depth:-430.835911 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 128 # Segment length 62.348219 meters # Minimum depth: 429.639148 meters looking forward 0.000000 meters along route # Maximum depth: 429.639148 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 389.639148 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.062400; longitude = -119.247341; captureRadius = 10; duration = 62; initialDepth = 392.017795; finalDepth = 389.639148; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:389.639148 # Seafloor depth:-429.639148 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 128 # Segment length 62.348219 meters # Minimum depth: 432.017795 meters looking forward 0.000000 meters along route # Maximum depth: 432.017795 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 392.017795 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.061949; longitude = -119.247467; captureRadius = 10; duration = 62; initialDepth = 405.343620; finalDepth = 392.017795; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:392.017795 # Seafloor depth:-432.017795 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 128 # Segment length 62.348219 meters # Minimum depth: 445.343620 meters looking forward 0.000000 meters along route # Maximum depth: 445.343620 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 405.343620 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.061498; longitude = -119.247594; captureRadius = 10; duration = 62; initialDepth = 415.308979; finalDepth = 405.343620; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:405.34362 # Seafloor depth:-445.343620 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 128 # Segment length 62.348219 meters # Minimum depth: 455.308979 meters looking forward 0.000000 meters along route # Maximum depth: 455.308979 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 415.308979 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.061048; longitude = -119.247720; captureRadius = 10; duration = 62; initialDepth = 416.218403; finalDepth = 415.308979; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:415.308979 # Seafloor depth:-455.308979 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 128 # Segment length 62.348219 meters # Minimum depth: 456.218403 meters looking forward 0.000000 meters along route # Maximum depth: 456.218403 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 416.218403 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.060597; longitude = -119.247847; captureRadius = 10; duration = 62; initialDepth = 417.231343; finalDepth = 416.218403; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:416.218403 # Seafloor depth:-456.218403 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 128 # Segment length 62.348219 meters # Minimum depth: 457.231343 meters looking forward 0.000000 meters along route # Maximum depth: 457.231343 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 417.231343 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.060146; longitude = -119.247973; captureRadius = 10; duration = 62; initialDepth = 417.529001; finalDepth = 417.231343; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:417.231343 # Seafloor depth:-457.231343 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 128 # Segment length 62.348219 meters # Minimum depth: 457.529001 meters looking forward 0.000000 meters along route # Maximum depth: 457.529001 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 417.529001 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.059695; longitude = -119.248100; captureRadius = 10; duration = 62; initialDepth = 416.525192; finalDepth = 417.529001; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:417.529001 # Seafloor depth:-457.529001 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 128 # Segment length 62.348219 meters # Minimum depth: 456.525192 meters looking forward 0.000000 meters along route # Maximum depth: 456.525192 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 416.525192 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.059244; longitude = -119.248227; captureRadius = 10; duration = 62; initialDepth = 411.095503; finalDepth = 416.525192; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:416.525192 # Seafloor depth:-456.525192 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 128 # Segment length 62.348219 meters # Minimum depth: 451.095503 meters looking forward 0.000000 meters along route # Maximum depth: 451.095503 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 411.095503 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.058793; longitude = -119.248353; captureRadius = 10; duration = 62; initialDepth = 410.177059; finalDepth = 411.095503; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:411.095503 # Seafloor depth:-451.095503 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 128 # Segment length 62.348219 meters # Minimum depth: 450.177059 meters looking forward 0.000000 meters along route # Maximum depth: 450.177059 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 410.177059 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.058342; longitude = -119.248480; captureRadius = 10; duration = 62; initialDepth = 410.595037; finalDepth = 410.177059; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:410.177059 # Seafloor depth:-450.177059 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 128 # Segment length 62.348219 meters # Minimum depth: 450.595037 meters looking forward 0.000000 meters along route # Maximum depth: 450.595037 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 410.595037 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.057892; longitude = -119.248606; captureRadius = 10; duration = 62; initialDepth = 426.636319; finalDepth = 410.595037; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:410.595037 # Seafloor depth:-450.595037 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 128 # Segment length 62.348219 meters # Minimum depth: 466.636319 meters looking forward 0.000000 meters along route # Maximum depth: 466.636319 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 426.636319 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.057441; longitude = -119.248733; captureRadius = 10; duration = 62; initialDepth = 420.583058; finalDepth = 426.636319; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:426.636319 # Seafloor depth:-466.636319 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 128 # Segment length 62.348219 meters # Minimum depth: 460.583058 meters looking forward 0.000000 meters along route # Maximum depth: 460.583058 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 420.583058 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.056990; longitude = -119.248859; captureRadius = 10; duration = 62; initialDepth = 419.242331; finalDepth = 420.583058; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:420.583058 # Seafloor depth:-460.583058 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 128 # Segment length 62.348219 meters # Minimum depth: 459.242331 meters looking forward 0.000000 meters along route # Maximum depth: 459.242331 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 419.242331 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.056539; longitude = -119.248986; captureRadius = 10; duration = 62; initialDepth = 418.240150; finalDepth = 419.242331; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:419.242331 # Seafloor depth:-459.242331 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 128 # Segment length 62.348219 meters # Minimum depth: 458.240150 meters looking forward 0.000000 meters along route # Maximum depth: 458.240150 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 418.240150 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.056088; longitude = -119.249112; captureRadius = 10; duration = 62; initialDepth = 416.908500; finalDepth = 418.240150; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:418.24015 # Seafloor depth:-458.240150 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 128 # Segment length 62.348219 meters # Minimum depth: 456.908500 meters looking forward 0.000000 meters along route # Maximum depth: 456.908500 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 416.908500 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.055637; longitude = -119.249239; captureRadius = 10; duration = 62; initialDepth = 411.890656; finalDepth = 416.908500; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:416.9085 # Seafloor depth:-456.908500 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 128 # Segment length 62.348219 meters # Minimum depth: 451.890656 meters looking forward 0.000000 meters along route # Maximum depth: 451.890656 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 411.890656 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.055186; longitude = -119.249365; captureRadius = 10; duration = 62; initialDepth = 407.867372; finalDepth = 411.890656; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:411.890656 # Seafloor depth:-451.890656 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 128 # Segment length 62.348219 meters # Minimum depth: 447.867372 meters looking forward 0.000000 meters along route # Maximum depth: 447.867372 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 407.867372 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.054736; longitude = -119.249492; captureRadius = 10; duration = 62; initialDepth = 405.538966; finalDepth = 407.867372; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:407.867372 # Seafloor depth:-447.867372 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 128 # Segment length 62.348219 meters # Minimum depth: 445.538966 meters looking forward 0.000000 meters along route # Maximum depth: 445.538966 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 405.538966 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.054285; longitude = -119.249618; captureRadius = 10; duration = 62; initialDepth = 404.158966; finalDepth = 405.538966; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:405.538966 # Seafloor depth:-445.538966 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 127 # Segment length 62.348219 meters # Minimum depth: 444.158966 meters looking forward 0.000000 meters along route # Maximum depth: 444.158966 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 404.158966 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.053834; longitude = -119.249745; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 399.834000; finalDepth = 404.158966; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:404.158966 # Seafloor depth:-444.158966 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 127 # Segment length 62.348219 meters # Minimum depth: 439.834000 meters looking forward 0.000000 meters along route # Maximum depth: 439.834000 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 399.834000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.053641; longitude = -119.249469; captureRadius = 10; duration = 62; initialDepth = 392.532054; finalDepth = 399.834000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:399.834 # Seafloor depth:-439.834000 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 127 # Segment length 62.348219 meters # Minimum depth: 432.532054 meters looking forward 0.000000 meters along route # Maximum depth: 432.532054 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 392.532054 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.053338; longitude = -119.249036; captureRadius = 10; duration = 62; initialDepth = 385.230929; finalDepth = 392.532054; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:392.532054 # Seafloor depth:-432.532054 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 127 # Segment length 62.348219 meters # Minimum depth: 425.230929 meters looking forward 0.000000 meters along route # Maximum depth: 425.230929 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 385.230929 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.053022; longitude = -119.248584; captureRadius = 10; duration = 62; initialDepth = 384.910817; finalDepth = 385.230929; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:385.230929 # Seafloor depth:-425.230929 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 127 # Segment length 62.348219 meters # Minimum depth: 424.910817 meters looking forward 0.000000 meters along route # Maximum depth: 424.910817 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 384.910817 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.052732; longitude = -119.248169; captureRadius = 10; duration = 62; initialDepth = 388.327575; finalDepth = 384.910817; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:384.910817 # Seafloor depth:-424.910817 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 127 # Segment length 62.348219 meters # Minimum depth: 428.327575 meters looking forward 0.000000 meters along route # Maximum depth: 428.327575 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 388.327575 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.052429; longitude = -119.247736; captureRadius = 10; duration = 62; initialDepth = 401.290151; finalDepth = 388.327575; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:388.327575 # Seafloor depth:-428.327575 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 127 # Segment length 62.348219 meters # Minimum depth: 441.290151 meters looking forward 0.000000 meters along route # Maximum depth: 441.290151 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 401.290151 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.052121; longitude = -119.247295; captureRadius = 10; duration = 62; initialDepth = 408.850294; finalDepth = 401.290151; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:401.290151 # Seafloor depth:-441.290151 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 127 # Segment length 62.348219 meters # Minimum depth: 448.850294 meters looking forward 0.000000 meters along route # Maximum depth: 448.850294 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 408.850294 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.051823; longitude = -119.246869; captureRadius = 10; duration = 62; initialDepth = 410.431520; finalDepth = 408.850294; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:408.850294 # Seafloor depth:-448.850294 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 127 # Segment length 62.348219 meters # Minimum depth: 450.431520 meters looking forward 0.000000 meters along route # Maximum depth: 450.431520 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 410.431520 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.051520; longitude = -119.246436; captureRadius = 10; duration = 62; initialDepth = 413.748419; finalDepth = 410.431520; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:410.43152 # Seafloor depth:-450.431520 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 127 # Segment length 62.348219 meters # Minimum depth: 453.748419 meters looking forward 0.000000 meters along route # Maximum depth: 453.748419 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 413.748419 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.051217; longitude = -119.246003; captureRadius = 10; duration = 62; initialDepth = 421.976156; finalDepth = 413.748419; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:413.748419 # Seafloor depth:-453.748419 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 126 # Segment length 62.348219 meters # Minimum depth: 461.976156 meters looking forward 0.000000 meters along route # Maximum depth: 461.976156 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 421.976156 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.050888; longitude = -119.245533; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 429.868623; finalDepth = 421.976156; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:421.976156 # Seafloor depth:-461.976156 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 126 # Segment length 62.348219 meters # Minimum depth: 469.868623 meters looking forward 0.000000 meters along route # Maximum depth: 469.868623 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 429.868623 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.050588; longitude = -119.245324; captureRadius = 10; duration = 62; initialDepth = 433.890851; finalDepth = 429.868623; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:429.868623 # Seafloor depth:-469.868623 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 126 # Segment length 62.348219 meters # Minimum depth: 473.890851 meters looking forward 0.000000 meters along route # Maximum depth: 473.890851 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 433.890851 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.050137; longitude = -119.245011; captureRadius = 10; duration = 62; initialDepth = 439.991455; finalDepth = 433.890851; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:433.890851 # Seafloor depth:-473.890851 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 125 # Segment length 62.348219 meters # Minimum depth: 479.991455 meters looking forward 0.000000 meters along route # Maximum depth: 479.991455 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 439.991455 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.049746; longitude = -119.244739; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 443.377246; finalDepth = 439.991455; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:439.991455 # Seafloor depth:-479.991455 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 125 # Segment length 62.348219 meters # Minimum depth: 483.377246 meters looking forward 0.000000 meters along route # Maximum depth: 483.377246 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 443.377246 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.049686; longitude = -119.244765; captureRadius = 10; duration = 62; initialDepth = 445.413980; finalDepth = 443.377246; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:443.377246 # Seafloor depth:-483.377246 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 125 # Segment length 62.348219 meters # Minimum depth: 485.413980 meters looking forward 0.000000 meters along route # Maximum depth: 485.413980 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 445.413980 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.049235; longitude = -119.244963; captureRadius = 10; duration = 62; initialDepth = 472.043942; finalDepth = 445.413980; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:445.41398 # Seafloor depth:-485.413980 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 125 # Segment length 62.348219 meters # Minimum depth: 512.440506 meters looking forward 0.000000 meters along route # Maximum depth: 512.440506 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 472.043942 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.048784; longitude = -119.245162; captureRadius = 10; duration = 62; initialDepth = 471.408011; finalDepth = 472.043942; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.396564000001 # Actual altitude: 50 # Commanded vehicle depth:472.043941999999 # Seafloor depth:-512.440506 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 125 # Segment length 62.348219 meters # Minimum depth: 511.408011 meters looking forward 0.000000 meters along route # Maximum depth: 511.408011 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 471.408011 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.048333; longitude = -119.245360; captureRadius = 10; duration = 62; initialDepth = 463.773593; finalDepth = 471.408011; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.396564000001 # Actual altitude: 50 # Commanded vehicle depth:471.408011 # Seafloor depth:-511.408011 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 125 # Segment length 62.348219 meters # Minimum depth: 503.773593 meters looking forward 0.000000 meters along route # Maximum depth: 503.773593 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 463.773593 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.047856; longitude = -119.245569; captureRadius = 10; duration = 62; initialDepth = 462.424819; finalDepth = 463.773593; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:463.773593 # Seafloor depth:-503.773593 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 125 # Segment length 62.348219 meters # Minimum depth: 502.424819 meters looking forward 0.000000 meters along route # Maximum depth: 502.424819 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 462.424819 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.047432; longitude = -119.245756; captureRadius = 10; duration = 62; initialDepth = 460.592549; finalDepth = 462.424819; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:462.424819 # Seafloor depth:-502.424819 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 125 # Segment length 62.348219 meters # Minimum depth: 500.592549 meters looking forward 0.000000 meters along route # Maximum depth: 500.592549 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 460.592549 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.046981; longitude = -119.245954; captureRadius = 10; duration = 62; initialDepth = 454.874017; finalDepth = 460.592549; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:460.592549 # Seafloor depth:-500.592549 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 125 # Segment length 62.348219 meters # Minimum depth: 494.874017 meters looking forward 0.000000 meters along route # Maximum depth: 494.874017 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 454.874017 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.046530; longitude = -119.246152; captureRadius = 10; duration = 62; initialDepth = 453.037679; finalDepth = 454.874017; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:454.874017 # Seafloor depth:-494.874017 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 124 # Segment length 62.348219 meters # Minimum depth: 493.037679 meters looking forward 0.000000 meters along route # Maximum depth: 493.037679 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 453.037679 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.046049; longitude = -119.246364; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 452.730271; finalDepth = 453.037679; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:453.037679 # Seafloor depth:-493.037679 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 124 # Segment length 62.348219 meters # Minimum depth: 492.730271 meters looking forward 0.000000 meters along route # Maximum depth: 492.730271 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 452.730271 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.045899; longitude = -119.246265; captureRadius = 10; duration = 62; initialDepth = 453.675618; finalDepth = 452.730271; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:452.730271 # Seafloor depth:-492.730271 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 124 # Segment length 62.348219 meters # Minimum depth: 493.675618 meters looking forward 0.000000 meters along route # Maximum depth: 493.675618 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 453.675618 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.045498; longitude = -119.246003; captureRadius = 10; duration = 62; initialDepth = 453.946737; finalDepth = 453.675618; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:453.675618 # Seafloor depth:-493.675618 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 123 # Segment length 62.348219 meters # Minimum depth: 493.946737 meters looking forward 0.000000 meters along route # Maximum depth: 493.946737 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 453.946737 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.045057; longitude = -119.245714; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 453.921987; finalDepth = 453.946737; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:453.946737 # Seafloor depth:-493.946737 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 123 # Segment length 62.348219 meters # Minimum depth: 493.921987 meters looking forward 0.000000 meters along route # Maximum depth: 493.921987 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 453.921987 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.044986; longitude = -119.245461; captureRadius = 10; duration = 62; initialDepth = 453.919148; finalDepth = 453.921987; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:453.921987 # Seafloor depth:-493.921987 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 123 # Segment length 62.348219 meters # Minimum depth: 493.919148 meters looking forward 0.000000 meters along route # Maximum depth: 493.919148 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 453.919148 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.044834; longitude = -119.244919; captureRadius = 10; duration = 62; initialDepth = 454.596238; finalDepth = 453.919148; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:453.919148 # Seafloor depth:-493.919148 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 123 # Segment length 62.348219 meters # Minimum depth: 494.596238 meters looking forward 0.000000 meters along route # Maximum depth: 494.596238 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 454.596238 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.044682; longitude = -119.244378; captureRadius = 10; duration = 62; initialDepth = 455.667878; finalDepth = 454.596238; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:454.596238 # Seafloor depth:-494.596238 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 123 # Segment length 62.348219 meters # Minimum depth: 495.667878 meters looking forward 0.000000 meters along route # Maximum depth: 495.667878 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 455.667878 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.044530; longitude = -119.243836; captureRadius = 10; duration = 62; initialDepth = 457.355143; finalDepth = 455.667878; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:455.667878 # Seafloor depth:-495.667878 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 123 # Segment length 62.348219 meters # Minimum depth: 497.355143 meters looking forward 0.000000 meters along route # Maximum depth: 497.355143 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 457.355143 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.044378; longitude = -119.243294; captureRadius = 10; duration = 62; initialDepth = 458.591059; finalDepth = 457.355143; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:457.355143 # Seafloor depth:-497.355143 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 123 # Segment length 62.348219 meters # Minimum depth: 498.591059 meters looking forward 0.000000 meters along route # Maximum depth: 498.591059 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 458.591059 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.044227; longitude = -119.242753; captureRadius = 10; duration = 62; initialDepth = 461.311272; finalDepth = 458.591059; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:458.591059 # Seafloor depth:-498.591059 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 123 # Segment length 62.348219 meters # Minimum depth: 501.311272 meters looking forward 0.000000 meters along route # Maximum depth: 501.311272 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 461.311272 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.044075; longitude = -119.242211; captureRadius = 10; duration = 62; initialDepth = 464.025084; finalDepth = 461.311272; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:461.311272 # Seafloor depth:-501.311272 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 123 # Segment length 62.348219 meters # Minimum depth: 504.025084 meters looking forward 0.000000 meters along route # Maximum depth: 504.025084 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 464.025084 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.043915; longitude = -119.241642; captureRadius = 10; duration = 62; initialDepth = 465.316433; finalDepth = 464.025084; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:464.025084 # Seafloor depth:-504.025084 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 123 # Segment length 62.348219 meters # Minimum depth: 505.316433 meters looking forward 0.000000 meters along route # Maximum depth: 505.316433 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 465.316433 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.043771; longitude = -119.241128; captureRadius = 10; duration = 62; initialDepth = 466.305386; finalDepth = 465.316433; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:465.316433 # Seafloor depth:-505.316433 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 123 # Segment length 62.348219 meters # Minimum depth: 506.305386 meters looking forward 0.000000 meters along route # Maximum depth: 506.305386 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 466.305386 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.043619; longitude = -119.240586; captureRadius = 10; duration = 62; initialDepth = 467.793782; finalDepth = 466.305386; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:466.305386 # Seafloor depth:-506.305386 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 123 # Segment length 62.348219 meters # Minimum depth: 507.793782 meters looking forward 0.000000 meters along route # Maximum depth: 507.793782 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 467.793782 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.043464; longitude = -119.240034; captureRadius = 10; duration = 62; initialDepth = 475.905081; finalDepth = 467.793782; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:467.793782 # Seafloor depth:-507.793782 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 123 # Segment length 62.348219 meters # Minimum depth: 515.905081 meters looking forward 0.000000 meters along route # Maximum depth: 515.905081 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 475.905081 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.043315; longitude = -119.239503; captureRadius = 10; duration = 62; initialDepth = 485.697296; finalDepth = 475.905081; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:475.905081 # Seafloor depth:-515.905081 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 123 # Segment length 62.348219 meters # Minimum depth: 525.697296 meters looking forward 0.000000 meters along route # Maximum depth: 525.697296 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 485.697296 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.043163; longitude = -119.238961; captureRadius = 10; duration = 62; initialDepth = 489.913051; finalDepth = 485.697296; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:485.697296 # Seafloor depth:-525.697296 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 123 # Segment length 62.348219 meters # Minimum depth: 529.913051 meters looking forward 0.000000 meters along route # Maximum depth: 529.913051 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 489.913051 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.043011; longitude = -119.238419; captureRadius = 10; duration = 62; initialDepth = 491.743623; finalDepth = 489.913051; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:489.913051 # Seafloor depth:-529.913051 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 123 # Segment length 62.348219 meters # Minimum depth: 531.743623 meters looking forward 0.000000 meters along route # Maximum depth: 531.743623 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 491.743623 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.042859; longitude = -119.237878; captureRadius = 10; duration = 62; initialDepth = 491.535422; finalDepth = 491.743623; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:491.743623 # Seafloor depth:-531.743623 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 123 # Segment length 62.348219 meters # Minimum depth: 531.535422 meters looking forward 0.000000 meters along route # Maximum depth: 531.535422 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 491.535422 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.042707; longitude = -119.237336; captureRadius = 10; duration = 62; initialDepth = 490.379275; finalDepth = 491.535422; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:491.535422 # Seafloor depth:-531.535422 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 123 # Segment length 62.348219 meters # Minimum depth: 530.379275 meters looking forward 0.000000 meters along route # Maximum depth: 530.379275 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 490.379275 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.042555; longitude = -119.236794; captureRadius = 10; duration = 62; initialDepth = 486.152884; finalDepth = 490.379275; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:490.379275 # Seafloor depth:-530.379275 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 123 # Segment length 62.348219 meters # Minimum depth: 526.152884 meters looking forward 0.000000 meters along route # Maximum depth: 526.152884 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 486.152884 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.042403; longitude = -119.236253; captureRadius = 10; duration = 62; initialDepth = 483.251677; finalDepth = 486.152884; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:486.152884 # Seafloor depth:-526.152884 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 123 # Segment length 62.348219 meters # Minimum depth: 523.251677 meters looking forward 0.000000 meters along route # Maximum depth: 523.251677 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 483.251677 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.042251; longitude = -119.235711; captureRadius = 10; duration = 62; initialDepth = 479.171268; finalDepth = 483.251677; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:483.251677 # Seafloor depth:-523.251677 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 123 # Segment length 62.348219 meters # Minimum depth: 519.171268 meters looking forward 0.000000 meters along route # Maximum depth: 519.171268 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 479.171268 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.042099; longitude = -119.235169; captureRadius = 10; duration = 62; initialDepth = 478.544083; finalDepth = 479.171268; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:479.171268 # Seafloor depth:-519.171268 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 122 # Segment length 62.348219 meters # Minimum depth: 518.544083 meters looking forward 0.000000 meters along route # Maximum depth: 518.544083 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 478.544083 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.041931; longitude = -119.234569; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 477.937165; finalDepth = 478.544083; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:478.544083 # Seafloor depth:-518.544083 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 122 # Segment length 62.348219 meters # Minimum depth: 517.937165 meters looking forward 0.000000 meters along route # Maximum depth: 517.937165 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 477.937165 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.041841; longitude = -119.234502; captureRadius = 10; duration = 62; initialDepth = 478.845585; finalDepth = 477.937165; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:477.937165 # Seafloor depth:-517.937165 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 122 # Segment length 62.348219 meters # Minimum depth: 518.845585 meters looking forward 0.000000 meters along route # Maximum depth: 518.845585 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 478.845585 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.041390; longitude = -119.234165; captureRadius = 10; duration = 62; initialDepth = 480.467141; finalDepth = 478.845585; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:478.845585 # Seafloor depth:-518.845585 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 122 # Segment length 62.348219 meters # Minimum depth: 520.467141 meters looking forward 0.000000 meters along route # Maximum depth: 520.467141 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 480.467141 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.040995; longitude = -119.233869; captureRadius = 10; duration = 62; initialDepth = 481.806314; finalDepth = 480.467141; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:480.467141 # Seafloor depth:-520.467141 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 122 # Segment length 62.348219 meters # Minimum depth: 521.806314 meters looking forward 0.000000 meters along route # Maximum depth: 521.806314 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 481.806314 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.040561; longitude = -119.233544; captureRadius = 10; duration = 62; initialDepth = 483.709977; finalDepth = 481.806314; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:481.806314 # Seafloor depth:-521.806314 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 122 # Segment length 62.348219 meters # Minimum depth: 523.709977 meters looking forward 0.000000 meters along route # Maximum depth: 523.709977 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 483.709977 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.040126; longitude = -119.233219; captureRadius = 10; duration = 62; initialDepth = 483.567749; finalDepth = 483.709977; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:483.709977 # Seafloor depth:-523.709977 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 121 # Segment length 62.348219 meters # Minimum depth: 523.567749 meters looking forward 0.000000 meters along route # Maximum depth: 523.567749 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 483.567749 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.039707; longitude = -119.232906; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 483.931639; finalDepth = 483.567749; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:483.567749 # Seafloor depth:-523.567749 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 121 # Segment length 62.348219 meters # Minimum depth: 523.931639 meters looking forward 0.000000 meters along route # Maximum depth: 523.931639 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 483.931639 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.039587; longitude = -119.232780; captureRadius = 10; duration = 62; initialDepth = 484.757791; finalDepth = 483.931639; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:483.931639 # Seafloor depth:-523.931639 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 121 # Segment length 62.348219 meters # Minimum depth: 524.757791 meters looking forward 0.000000 meters along route # Maximum depth: 524.757791 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 484.757791 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.039226; longitude = -119.232403; captureRadius = 10; duration = 62; initialDepth = 486.306131; finalDepth = 484.757791; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:484.757791 # Seafloor depth:-524.757791 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 121 # Segment length 62.348219 meters # Minimum depth: 526.306131 meters looking forward 0.000000 meters along route # Maximum depth: 526.306131 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 486.306131 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.038865; longitude = -119.232026; captureRadius = 10; duration = 62; initialDepth = 487.074767; finalDepth = 486.306131; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:486.306131 # Seafloor depth:-526.306131 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 121 # Segment length 62.348219 meters # Minimum depth: 527.074767 meters looking forward 0.000000 meters along route # Maximum depth: 527.074767 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 487.074767 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.038505; longitude = -119.231649; captureRadius = 10; duration = 62; initialDepth = 488.065415; finalDepth = 487.074767; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:487.074767 # Seafloor depth:-527.074767 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 121 # Segment length 62.348219 meters # Minimum depth: 528.065415 meters looking forward 0.000000 meters along route # Maximum depth: 528.065415 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 488.065415 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.038142; longitude = -119.231269; captureRadius = 10; duration = 62; initialDepth = 489.215465; finalDepth = 488.065415; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:488.065415 # Seafloor depth:-528.065415 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 121 # Segment length 62.348219 meters # Minimum depth: 529.215465 meters looking forward 0.000000 meters along route # Maximum depth: 529.215465 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 489.215465 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.037783; longitude = -119.230895; captureRadius = 10; duration = 62; initialDepth = 491.127890; finalDepth = 489.215465; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:489.215465 # Seafloor depth:-529.215465 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 121 # Segment length 62.348219 meters # Minimum depth: 531.127890 meters looking forward 0.000000 meters along route # Maximum depth: 531.127890 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 491.127890 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.037416; longitude = -119.230511; captureRadius = 10; duration = 62; initialDepth = 492.584675; finalDepth = 491.127890; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:491.12789 # Seafloor depth:-531.127890 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 121 # Segment length 62.348219 meters # Minimum depth: 532.584675 meters looking forward 0.000000 meters along route # Maximum depth: 532.584675 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 492.584675 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.037062; longitude = -119.230140; captureRadius = 10; duration = 62; initialDepth = 493.786875; finalDepth = 492.584675; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:492.584675 # Seafloor depth:-532.584675 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 121 # Segment length 62.348219 meters # Minimum depth: 533.786875 meters looking forward 0.000000 meters along route # Maximum depth: 533.786875 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 493.786875 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.036691; longitude = -119.229753; captureRadius = 10; duration = 62; initialDepth = 494.640639; finalDepth = 493.786875; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:493.786875 # Seafloor depth:-533.786875 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 121 # Segment length 62.348219 meters # Minimum depth: 534.640639 meters looking forward 0.000000 meters along route # Maximum depth: 534.640639 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 494.640639 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.036340; longitude = -119.229386; captureRadius = 10; duration = 62; initialDepth = 496.161665; finalDepth = 494.640639; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:494.640639 # Seafloor depth:-534.640639 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 121 # Segment length 62.348219 meters # Minimum depth: 536.161665 meters looking forward 0.000000 meters along route # Maximum depth: 536.161665 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 496.161665 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.035966; longitude = -119.228994; captureRadius = 10; duration = 62; initialDepth = 497.861813; finalDepth = 496.161665; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:496.161665 # Seafloor depth:-536.161665 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 121 # Segment length 62.348219 meters # Minimum depth: 537.861813 meters looking forward 0.000000 meters along route # Maximum depth: 537.861813 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 497.861813 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.035619; longitude = -119.228632; captureRadius = 10; duration = 62; initialDepth = 499.286466; finalDepth = 497.861813; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:497.861813 # Seafloor depth:-537.861813 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 121 # Segment length 62.348219 meters # Minimum depth: 539.286466 meters looking forward 0.000000 meters along route # Maximum depth: 539.286466 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 499.286466 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.035241; longitude = -119.228236; captureRadius = 10; duration = 62; initialDepth = 499.792817; finalDepth = 499.286466; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:499.286466 # Seafloor depth:-539.286466 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 121 # Segment length 62.348219 meters # Minimum depth: 539.792817 meters looking forward 0.000000 meters along route # Maximum depth: 539.792817 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 499.792817 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.034898; longitude = -119.227878; captureRadius = 10; duration = 62; initialDepth = 501.751441; finalDepth = 499.792817; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:499.792817 # Seafloor depth:-539.792817 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 121 # Segment length 62.348219 meters # Minimum depth: 541.751441 meters looking forward 0.000000 meters along route # Maximum depth: 541.751441 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 501.751441 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.034537; longitude = -119.227500; captureRadius = 10; duration = 62; initialDepth = 502.358742; finalDepth = 501.751441; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:501.751441 # Seafloor depth:-541.751441 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 121 # Segment length 62.348219 meters # Minimum depth: 542.358742 meters looking forward 0.000000 meters along route # Maximum depth: 542.358742 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 502.358742 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.034176; longitude = -119.227123; captureRadius = 10; duration = 62; initialDepth = 504.509814; finalDepth = 502.358742; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:502.358742 # Seafloor depth:-542.358742 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 121 # Segment length 62.348219 meters # Minimum depth: 544.509814 meters looking forward 0.000000 meters along route # Maximum depth: 544.509814 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 504.509814 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.033816; longitude = -119.226746; captureRadius = 10; duration = 62; initialDepth = 505.227320; finalDepth = 504.509814; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:504.509814 # Seafloor depth:-544.509814 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 121 # Segment length 62.348219 meters # Minimum depth: 545.227320 meters looking forward 0.000000 meters along route # Maximum depth: 545.227320 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 505.227320 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.033455; longitude = -119.226369; captureRadius = 10; duration = 62; initialDepth = 505.666405; finalDepth = 505.227320; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:505.22732 # Seafloor depth:-545.227320 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 121 # Segment length 62.348219 meters # Minimum depth: 545.666405 meters looking forward 0.000000 meters along route # Maximum depth: 545.666405 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 505.666405 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.033094; longitude = -119.225992; captureRadius = 10; duration = 62; initialDepth = 506.937130; finalDepth = 505.666405; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:505.666405 # Seafloor depth:-545.666405 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 121 # Segment length 62.348219 meters # Minimum depth: 546.937130 meters looking forward 0.000000 meters along route # Maximum depth: 546.937130 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 506.937130 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.032734; longitude = -119.225615; captureRadius = 10; duration = 62; initialDepth = 508.143951; finalDepth = 506.937130; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:506.93713 # Seafloor depth:-546.937130 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 121 # Segment length 62.348219 meters # Minimum depth: 548.143951 meters looking forward 0.000000 meters along route # Maximum depth: 548.143951 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 508.143951 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.032373; longitude = -119.225238; captureRadius = 10; duration = 62; initialDepth = 509.815202; finalDepth = 508.143951; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:508.143951 # Seafloor depth:-548.143951 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 121 # Segment length 62.348219 meters # Minimum depth: 549.815202 meters looking forward 0.000000 meters along route # Maximum depth: 549.815202 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 509.815202 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.032012; longitude = -119.224861; captureRadius = 10; duration = 62; initialDepth = 510.423625; finalDepth = 509.815202; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:509.815202 # Seafloor depth:-549.815202 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 121 # Segment length 62.348219 meters # Minimum depth: 550.423625 meters looking forward 0.000000 meters along route # Maximum depth: 550.423625 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 510.423625 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.031651; longitude = -119.224483; captureRadius = 10; duration = 62; initialDepth = 511.265710; finalDepth = 510.423625; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:510.423625 # Seafloor depth:-550.423625 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 121 # Segment length 62.348219 meters # Minimum depth: 551.265710 meters looking forward 0.000000 meters along route # Maximum depth: 551.265710 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 511.265710 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.031291; longitude = -119.224106; captureRadius = 10; duration = 62; initialDepth = 512.632904; finalDepth = 511.265710; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:511.26571 # Seafloor depth:-551.265710 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 120 # Segment length 62.348219 meters # Minimum depth: 552.632904 meters looking forward 0.000000 meters along route # Maximum depth: 552.632904 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 512.632904 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.030930; longitude = -119.223729; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 525.838454; finalDepth = 512.632904; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:512.632904 # Seafloor depth:-552.632904 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 120 # Segment length 62.348219 meters # Minimum depth: 565.838454 meters looking forward 0.000000 meters along route # Maximum depth: 565.838454 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 525.838454 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.030569; longitude = -119.224062; captureRadius = 10; duration = 62; initialDepth = 527.325878; finalDepth = 525.838454; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:525.838454 # Seafloor depth:-565.838454 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 120 # Segment length 62.348219 meters # Minimum depth: 567.325878 meters looking forward 0.000000 meters along route # Maximum depth: 567.325878 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 527.325878 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.030209; longitude = -119.224396; captureRadius = 10; duration = 62; initialDepth = 526.492982; finalDepth = 527.325878; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:527.325878 # Seafloor depth:-567.325878 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 120 # Segment length 62.348219 meters # Minimum depth: 566.492982 meters looking forward 0.000000 meters along route # Maximum depth: 566.492982 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 526.492982 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.029848; longitude = -119.224729; captureRadius = 10; duration = 62; initialDepth = 524.414614; finalDepth = 526.492982; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:526.492982 # Seafloor depth:-566.492982 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 120 # Segment length 62.348219 meters # Minimum depth: 564.414614 meters looking forward 0.000000 meters along route # Maximum depth: 564.414614 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 524.414614 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.029487; longitude = -119.225063; captureRadius = 10; duration = 62; initialDepth = 510.653633; finalDepth = 524.414614; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:524.414614 # Seafloor depth:-564.414614 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 120 # Segment length 62.348219 meters # Minimum depth: 550.653633 meters looking forward 0.000000 meters along route # Maximum depth: 550.653633 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 510.653633 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.029127; longitude = -119.225397; captureRadius = 10; duration = 62; initialDepth = 503.040147; finalDepth = 510.653633; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:510.653633 # Seafloor depth:-550.653633 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 120 # Segment length 62.348219 meters # Minimum depth: 543.040147 meters looking forward 0.000000 meters along route # Maximum depth: 543.040147 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 503.040147 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.028766; longitude = -119.225730; captureRadius = 10; duration = 62; initialDepth = 499.717866; finalDepth = 503.040147; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:503.040147 # Seafloor depth:-543.040147 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 120 # Segment length 62.348219 meters # Minimum depth: 539.717866 meters looking forward 0.000000 meters along route # Maximum depth: 539.717866 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 499.717866 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.028405; longitude = -119.226064; captureRadius = 10; duration = 62; initialDepth = 496.561843; finalDepth = 499.717866; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:499.717866 # Seafloor depth:-539.717866 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 120 # Segment length 62.348219 meters # Minimum depth: 536.561843 meters looking forward 0.000000 meters along route # Maximum depth: 536.561843 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 496.561843 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.028045; longitude = -119.226397; captureRadius = 10; duration = 62; initialDepth = 495.450470; finalDepth = 496.561843; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:496.561843 # Seafloor depth:-536.561843 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 120 # Segment length 62.348219 meters # Minimum depth: 535.450470 meters looking forward 0.000000 meters along route # Maximum depth: 535.450470 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 495.450470 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.027684; longitude = -119.226731; captureRadius = 10; duration = 62; initialDepth = 506.669782; finalDepth = 495.450470; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:495.45047 # Seafloor depth:-535.450470 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 120 # Segment length 62.348219 meters # Minimum depth: 546.669782 meters looking forward 0.000000 meters along route # Maximum depth: 546.669782 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 506.669782 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.027323; longitude = -119.227064; captureRadius = 10; duration = 62; initialDepth = 511.275410; finalDepth = 506.669782; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:506.669782 # Seafloor depth:-546.669782 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 120 # Segment length 62.348219 meters # Minimum depth: 551.275410 meters looking forward 0.000000 meters along route # Maximum depth: 551.275410 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 511.275410 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.026963; longitude = -119.227398; captureRadius = 10; duration = 62; initialDepth = 513.303341; finalDepth = 511.275410; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:511.27541 # Seafloor depth:-551.275410 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 120 # Segment length 62.348219 meters # Minimum depth: 553.303341 meters looking forward 0.000000 meters along route # Maximum depth: 553.303341 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 513.303341 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.026602; longitude = -119.227731; captureRadius = 10; duration = 62; initialDepth = 512.904907; finalDepth = 513.303341; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:513.303341 # Seafloor depth:-553.303341 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 119 # Segment length 62.348219 meters # Minimum depth: 552.904907 meters looking forward 0.000000 meters along route # Maximum depth: 552.904907 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 512.904907 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.026241; longitude = -119.228065; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 513.368892; finalDepth = 512.904907; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:512.904907 # Seafloor depth:-552.904907 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 119 # Segment length 62.348219 meters # Minimum depth: 553.368892 meters looking forward 0.000000 meters along route # Maximum depth: 553.368892 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 513.368892 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.026151; longitude = -119.228066; captureRadius = 10; duration = 62; initialDepth = 513.952284; finalDepth = 513.368892; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:513.368892 # Seafloor depth:-553.368892 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 119 # Segment length 62.348219 meters # Minimum depth: 553.952284 meters looking forward 0.000000 meters along route # Maximum depth: 553.952284 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 513.952284 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.025700; longitude = -119.228071; captureRadius = 10; duration = 62; initialDepth = 519.193504; finalDepth = 513.952284; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:513.952284 # Seafloor depth:-553.952284 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 119 # Segment length 62.348219 meters # Minimum depth: 559.193504 meters looking forward 0.000000 meters along route # Maximum depth: 559.193504 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 519.193504 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.025249; longitude = -119.228077; captureRadius = 10; duration = 62; initialDepth = 522.572845; finalDepth = 519.193504; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:519.193504 # Seafloor depth:-559.193504 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 119 # Segment length 62.348219 meters # Minimum depth: 562.572845 meters looking forward 0.000000 meters along route # Maximum depth: 562.572845 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 522.572845 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.024798; longitude = -119.228082; captureRadius = 10; duration = 62; initialDepth = 529.313423; finalDepth = 522.572845; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:522.572845 # Seafloor depth:-562.572845 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 119 # Segment length 62.348219 meters # Minimum depth: 569.313423 meters looking forward 0.000000 meters along route # Maximum depth: 569.313423 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 529.313423 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.024348; longitude = -119.228088; captureRadius = 10; duration = 62; initialDepth = 534.502099; finalDepth = 529.313423; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:529.313423 # Seafloor depth:-569.313423 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 119 # Segment length 62.348219 meters # Minimum depth: 574.502099 meters looking forward 0.000000 meters along route # Maximum depth: 574.502099 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 534.502099 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.023897; longitude = -119.228093; captureRadius = 10; duration = 62; initialDepth = 535.618519; finalDepth = 534.502099; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:534.502099 # Seafloor depth:-574.502099 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 119 # Segment length 62.348219 meters # Minimum depth: 575.618519 meters looking forward 0.000000 meters along route # Maximum depth: 575.618519 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 535.618519 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.023446; longitude = -119.228098; captureRadius = 10; duration = 62; initialDepth = 536.095915; finalDepth = 535.618519; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:535.618519 # Seafloor depth:-575.618519 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 119 # Segment length 62.348219 meters # Minimum depth: 576.095915 meters looking forward 0.000000 meters along route # Maximum depth: 576.095915 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 536.095915 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.022995; longitude = -119.228104; captureRadius = 10; duration = 62; initialDepth = 539.256623; finalDepth = 536.095915; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:536.095915 # Seafloor depth:-576.095915 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 119 # Segment length 62.348219 meters # Minimum depth: 579.256623 meters looking forward 0.000000 meters along route # Maximum depth: 579.256623 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 539.256623 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.022544; longitude = -119.228109; captureRadius = 10; duration = 62; initialDepth = 544.575790; finalDepth = 539.256623; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:539.256623 # Seafloor depth:-579.256623 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 119 # Segment length 62.348219 meters # Minimum depth: 584.575790 meters looking forward 0.000000 meters along route # Maximum depth: 584.575790 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 544.575790 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.022093; longitude = -119.228115; captureRadius = 10; duration = 62; initialDepth = 548.851263; finalDepth = 544.575790; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:544.57579 # Seafloor depth:-584.575790 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 119 # Segment length 62.348219 meters # Minimum depth: 588.851263 meters looking forward 0.000000 meters along route # Maximum depth: 588.851263 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 548.851263 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.021642; longitude = -119.228120; captureRadius = 10; duration = 62; initialDepth = 550.230628; finalDepth = 548.851263; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:548.851263 # Seafloor depth:-588.851263 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 119 # Segment length 62.348219 meters # Minimum depth: 590.230628 meters looking forward 0.000000 meters along route # Maximum depth: 590.230628 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 550.230628 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.021192; longitude = -119.228125; captureRadius = 10; duration = 62; initialDepth = 551.002173; finalDepth = 550.230628; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:550.230628 # Seafloor depth:-590.230628 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 119 # Segment length 62.348219 meters # Minimum depth: 591.002173 meters looking forward 0.000000 meters along route # Maximum depth: 591.002173 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 551.002173 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.020741; longitude = -119.228131; captureRadius = 10; duration = 62; initialDepth = 550.560547; finalDepth = 551.002173; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:551.002173 # Seafloor depth:-591.002173 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 118 # Segment length 62.348219 meters # Minimum depth: 590.560547 meters looking forward 0.000000 meters along route # Maximum depth: 590.560547 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 550.560547 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.020229; longitude = -119.228137; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 550.722821; finalDepth = 550.560547; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:550.560547 # Seafloor depth:-590.560547 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 118 # Segment length 62.348219 meters # Minimum depth: 590.722821 meters looking forward 0.000000 meters along route # Maximum depth: 590.722821 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 550.722821 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.020146; longitude = -119.228344; captureRadius = 10; duration = 62; initialDepth = 550.870101; finalDepth = 550.722821; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:550.722821 # Seafloor depth:-590.722821 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 118 # Segment length 62.348219 meters # Minimum depth: 590.870101 meters looking forward 0.000000 meters along route # Maximum depth: 590.870101 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 550.870101 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.019928; longitude = -119.228886; captureRadius = 10; duration = 62; initialDepth = 551.933191; finalDepth = 550.870101; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:550.870101 # Seafloor depth:-590.870101 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 118 # Segment length 62.348219 meters # Minimum depth: 591.933191 meters looking forward 0.000000 meters along route # Maximum depth: 591.933191 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 551.933191 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.019710; longitude = -119.229428; captureRadius = 10; duration = 62; initialDepth = 552.395902; finalDepth = 551.933191; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:551.933191 # Seafloor depth:-591.933191 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 118 # Segment length 62.348219 meters # Minimum depth: 592.395902 meters looking forward 0.000000 meters along route # Maximum depth: 592.395902 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 552.395902 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.019478; longitude = -119.230002; captureRadius = 10; duration = 62; initialDepth = 552.164903; finalDepth = 552.395902; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:552.395902 # Seafloor depth:-592.395902 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 118 # Segment length 62.348219 meters # Minimum depth: 592.164903 meters looking forward 0.000000 meters along route # Maximum depth: 592.164903 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 552.164903 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.019274; longitude = -119.230511; captureRadius = 10; duration = 62; initialDepth = 552.949842; finalDepth = 552.164903; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:552.164903 # Seafloor depth:-592.164903 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 118 # Segment length 62.348219 meters # Minimum depth: 592.949842 meters looking forward 0.000000 meters along route # Maximum depth: 592.949842 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 552.949842 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.019055; longitude = -119.231053; captureRadius = 10; duration = 62; initialDepth = 553.704687; finalDepth = 552.949842; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:552.949842 # Seafloor depth:-592.949842 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 118 # Segment length 62.348219 meters # Minimum depth: 593.704687 meters looking forward 0.000000 meters along route # Maximum depth: 593.704687 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 553.704687 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.018837; longitude = -119.231594; captureRadius = 10; duration = 62; initialDepth = 554.381346; finalDepth = 553.704687; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:553.704687 # Seafloor depth:-593.704687 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 118 # Segment length 62.348219 meters # Minimum depth: 594.381346 meters looking forward 0.000000 meters along route # Maximum depth: 594.381346 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 554.381346 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.018619; longitude = -119.232136; captureRadius = 10; duration = 62; initialDepth = 554.743560; finalDepth = 554.381346; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:554.381346 # Seafloor depth:-594.381346 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 118 # Segment length 62.348219 meters # Minimum depth: 594.743560 meters looking forward 0.000000 meters along route # Maximum depth: 594.743560 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 554.743560 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.018396; longitude = -119.232691; captureRadius = 10; duration = 62; initialDepth = 555.147733; finalDepth = 554.743560; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:554.74356 # Seafloor depth:-594.743560 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 118 # Segment length 62.348219 meters # Minimum depth: 595.147733 meters looking forward 0.000000 meters along route # Maximum depth: 595.147733 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 555.147733 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.018183; longitude = -119.233219; captureRadius = 10; duration = 62; initialDepth = 555.469880; finalDepth = 555.147733; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:555.147733 # Seafloor depth:-595.147733 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 118 # Segment length 62.348219 meters # Minimum depth: 595.469880 meters looking forward 0.000000 meters along route # Maximum depth: 595.469880 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 555.469880 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.017945; longitude = -119.233811; captureRadius = 10; duration = 62; initialDepth = 556.461405; finalDepth = 555.469880; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:555.46988 # Seafloor depth:-595.469880 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 118 # Segment length 62.348219 meters # Minimum depth: 596.461405 meters looking forward 0.000000 meters along route # Maximum depth: 596.461405 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 556.461405 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.017747; longitude = -119.234303; captureRadius = 10; duration = 62; initialDepth = 559.019989; finalDepth = 556.461405; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:556.461405 # Seafloor depth:-596.461405 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 117 # Segment length 62.348219 meters # Minimum depth: 599.019989 meters looking forward 0.000000 meters along route # Maximum depth: 599.019989 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 559.019989 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.017524; longitude = -119.234858; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 556.831108; finalDepth = 559.019989; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:559.019989 # Seafloor depth:-599.019989 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 117 # Segment length 62.348219 meters # Minimum depth: 596.831108 meters looking forward 0.000000 meters along route # Maximum depth: 596.831108 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 556.831108 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.017224; longitude = -119.235173; captureRadius = 10; duration = 62; initialDepth = 552.679912; finalDepth = 556.831108; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:556.831108 # Seafloor depth:-596.831108 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 117 # Segment length 62.348219 meters # Minimum depth: 592.679912 meters looking forward 0.000000 meters along route # Maximum depth: 592.679912 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 552.679912 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.016863; longitude = -119.235552; captureRadius = 10; duration = 62; initialDepth = 552.675956; finalDepth = 552.679912; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:552.679912 # Seafloor depth:-592.679912 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 117 # Segment length 62.348219 meters # Minimum depth: 592.675956 meters looking forward 0.000000 meters along route # Maximum depth: 592.675956 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 552.675956 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.016503; longitude = -119.235931; captureRadius = 10; duration = 62; initialDepth = 552.653275; finalDepth = 552.675956; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:552.675956 # Seafloor depth:-592.675956 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 117 # Segment length 62.348219 meters # Minimum depth: 592.653275 meters looking forward 0.000000 meters along route # Maximum depth: 592.653275 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 552.653275 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.016142; longitude = -119.236310; captureRadius = 10; duration = 62; initialDepth = 553.137014; finalDepth = 552.653275; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:552.653275 # Seafloor depth:-592.653275 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 117 # Segment length 62.348219 meters # Minimum depth: 593.137014 meters looking forward 0.000000 meters along route # Maximum depth: 593.137014 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 553.137014 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.015781; longitude = -119.236688; captureRadius = 10; duration = 62; initialDepth = 552.790029; finalDepth = 553.137014; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:553.137014 # Seafloor depth:-593.137014 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 117 # Segment length 62.348219 meters # Minimum depth: 592.790029 meters looking forward 0.000000 meters along route # Maximum depth: 592.790029 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 552.790029 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.015421; longitude = -119.237067; captureRadius = 10; duration = 62; initialDepth = 552.735307; finalDepth = 552.790029; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:552.790029 # Seafloor depth:-592.790029 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 117 # Segment length 62.348219 meters # Minimum depth: 592.735307 meters looking forward 0.000000 meters along route # Maximum depth: 592.735307 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 552.735307 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.015060; longitude = -119.237446; captureRadius = 10; duration = 62; initialDepth = 550.986453; finalDepth = 552.735307; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:552.735307 # Seafloor depth:-592.735307 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 117 # Segment length 62.348219 meters # Minimum depth: 590.986453 meters looking forward 0.000000 meters along route # Maximum depth: 590.986453 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 550.986453 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.014699; longitude = -119.237825; captureRadius = 10; duration = 62; initialDepth = 550.331857; finalDepth = 550.986453; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:550.986453 # Seafloor depth:-590.986453 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 117 # Segment length 62.348219 meters # Minimum depth: 590.331857 meters looking forward 0.000000 meters along route # Maximum depth: 590.331857 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 550.331857 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.014338; longitude = -119.238204; captureRadius = 10; duration = 62; initialDepth = 549.326283; finalDepth = 550.331857; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:550.331857 # Seafloor depth:-590.331857 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 117 # Segment length 62.348219 meters # Minimum depth: 589.326283 meters looking forward 0.000000 meters along route # Maximum depth: 589.326283 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 549.326283 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.013978; longitude = -119.238582; captureRadius = 10; duration = 62; initialDepth = 549.846430; finalDepth = 549.326283; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:549.326283 # Seafloor depth:-589.326283 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 117 # Segment length 62.348219 meters # Minimum depth: 589.846430 meters looking forward 0.000000 meters along route # Maximum depth: 589.846430 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 549.846430 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.013617; longitude = -119.238961; captureRadius = 10; duration = 62; initialDepth = 551.283295; finalDepth = 549.846430; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:549.84643 # Seafloor depth:-589.846430 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 117 # Segment length 62.348219 meters # Minimum depth: 591.283295 meters looking forward 0.000000 meters along route # Maximum depth: 591.283295 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 551.283295 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.013256; longitude = -119.239340; captureRadius = 10; duration = 62; initialDepth = 553.811638; finalDepth = 551.283295; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:551.283295 # Seafloor depth:-591.283295 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 117 # Segment length 62.348219 meters # Minimum depth: 593.811638 meters looking forward 0.000000 meters along route # Maximum depth: 593.811638 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 553.811638 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.012895; longitude = -119.239719; captureRadius = 10; duration = 62; initialDepth = 554.925887; finalDepth = 553.811638; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:553.811638 # Seafloor depth:-593.811638 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 117 # Segment length 62.348219 meters # Minimum depth: 594.925887 meters looking forward 0.000000 meters along route # Maximum depth: 594.925887 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 554.925887 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.012535; longitude = -119.240098; captureRadius = 10; duration = 62; initialDepth = 557.265692; finalDepth = 554.925887; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:554.925887 # Seafloor depth:-594.925887 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 117 # Segment length 62.348219 meters # Minimum depth: 597.265692 meters looking forward 0.000000 meters along route # Maximum depth: 597.265692 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 557.265692 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.012173; longitude = -119.240478; captureRadius = 10; duration = 62; initialDepth = 558.144852; finalDepth = 557.265692; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:557.265692 # Seafloor depth:-597.265692 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 116 # Segment length 62.348219 meters # Minimum depth: 598.144852 meters looking forward 0.000000 meters along route # Maximum depth: 598.144852 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 558.144852 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.011813; longitude = -119.240856; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 557.982527; finalDepth = 558.144852; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:558.144852 # Seafloor depth:-598.144852 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 116 # Segment length 62.348219 meters # Minimum depth: 597.982527 meters looking forward 0.000000 meters along route # Maximum depth: 597.982527 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 557.982527 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.011485; longitude = -119.241019; captureRadius = 10; duration = 62; initialDepth = 559.166224; finalDepth = 557.982527; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:557.982527 # Seafloor depth:-597.982527 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 116 # Segment length 62.348219 meters # Minimum depth: 599.166224 meters looking forward 0.000000 meters along route # Maximum depth: 599.166224 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 559.166224 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.011049; longitude = -119.241236; captureRadius = 10; duration = 62; initialDepth = 559.864276; finalDepth = 559.166224; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:559.166224 # Seafloor depth:-599.166224 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 116 # Segment length 62.348219 meters # Minimum depth: 599.864276 meters looking forward 0.000000 meters along route # Maximum depth: 599.864276 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 559.864276 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.010613; longitude = -119.241453; captureRadius = 10; duration = 62; initialDepth = 561.232639; finalDepth = 559.864276; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:559.864276 # Seafloor depth:-599.864276 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 116 # Segment length 62.348219 meters # Minimum depth: 601.232639 meters looking forward 0.000000 meters along route # Maximum depth: 601.232639 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 561.232639 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.010178; longitude = -119.241669; captureRadius = 10; duration = 62; initialDepth = 562.286748; finalDepth = 561.232639; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:561.232639 # Seafloor depth:-601.232639 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 116 # Segment length 62.348219 meters # Minimum depth: 602.286748 meters looking forward 0.000000 meters along route # Maximum depth: 602.286748 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 562.286748 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.009740; longitude = -119.241887; captureRadius = 10; duration = 62; initialDepth = 564.371751; finalDepth = 562.286748; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:562.286748 # Seafloor depth:-602.286748 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 116 # Segment length 62.348219 meters # Minimum depth: 604.371751 meters looking forward 0.000000 meters along route # Maximum depth: 604.371751 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 564.371751 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.009289; longitude = -119.242112; captureRadius = 10; duration = 62; initialDepth = 565.033390; finalDepth = 564.371751; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:564.371751 # Seafloor depth:-604.371751 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 116 # Segment length 62.348219 meters # Minimum depth: 605.033390 meters looking forward 0.000000 meters along route # Maximum depth: 605.033390 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 565.033390 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.008871; longitude = -119.242319; captureRadius = 10; duration = 62; initialDepth = 565.265121; finalDepth = 565.033390; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:565.03339 # Seafloor depth:-605.033390 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 116 # Segment length 62.348219 meters # Minimum depth: 605.265121 meters looking forward 0.000000 meters along route # Maximum depth: 605.265121 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 565.265121 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.008436; longitude = -119.242536; captureRadius = 10; duration = 62; initialDepth = 564.858625; finalDepth = 565.265121; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:565.265121 # Seafloor depth:-605.265121 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 116 # Segment length 62.348219 meters # Minimum depth: 604.858625 meters looking forward 0.000000 meters along route # Maximum depth: 604.858625 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 564.858625 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.008000; longitude = -119.242753; captureRadius = 10; duration = 62; initialDepth = 564.813421; finalDepth = 564.858625; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:564.858625 # Seafloor depth:-604.858625 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 116 # Segment length 62.348219 meters # Minimum depth: 604.813421 meters looking forward 0.000000 meters along route # Maximum depth: 604.813421 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 564.813421 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.007564; longitude = -119.242969; captureRadius = 10; duration = 62; initialDepth = 564.633144; finalDepth = 564.813421; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:564.813421 # Seafloor depth:-604.813421 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 116 # Segment length 62.348219 meters # Minimum depth: 604.633144 meters looking forward 0.000000 meters along route # Maximum depth: 604.633144 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 564.633144 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.007125; longitude = -119.243188; captureRadius = 10; duration = 62; initialDepth = 565.721170; finalDepth = 564.633144; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:564.633144 # Seafloor depth:-604.633144 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 116 # Segment length 62.348219 meters # Minimum depth: 605.721170 meters looking forward 0.000000 meters along route # Maximum depth: 605.721170 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 565.721170 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.006693; longitude = -119.243403; captureRadius = 10; duration = 62; initialDepth = 565.954148; finalDepth = 565.721170; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:565.72117 # Seafloor depth:-605.721170 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 116 # Segment length 62.348219 meters # Minimum depth: 605.954148 meters looking forward 0.000000 meters along route # Maximum depth: 605.954148 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 565.954148 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.006258; longitude = -119.243619; captureRadius = 10; duration = 62; initialDepth = 566.396742; finalDepth = 565.954148; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:565.954148 # Seafloor depth:-605.954148 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 116 # Segment length 62.348219 meters # Minimum depth: 606.396742 meters looking forward 0.000000 meters along route # Maximum depth: 606.396742 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 566.396742 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.005822; longitude = -119.243836; captureRadius = 10; duration = 62; initialDepth = 567.535786; finalDepth = 566.396742; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:566.396742 # Seafloor depth:-606.396742 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 116 # Segment length 62.348219 meters # Minimum depth: 607.535786 meters looking forward 0.000000 meters along route # Maximum depth: 607.535786 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 567.535786 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.005387; longitude = -119.244053; captureRadius = 10; duration = 62; initialDepth = 569.260753; finalDepth = 567.535786; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:567.535786 # Seafloor depth:-607.535786 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 116 # Segment length 62.348219 meters # Minimum depth: 609.260753 meters looking forward 0.000000 meters along route # Maximum depth: 609.260753 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 569.260753 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.004951; longitude = -119.244269; captureRadius = 10; duration = 62; initialDepth = 571.050859; finalDepth = 569.260753; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:569.260753 # Seafloor depth:-609.260753 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 116 # Segment length 62.348219 meters # Minimum depth: 611.050859 meters looking forward 0.000000 meters along route # Maximum depth: 611.050859 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 571.050859 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.004510; longitude = -119.244489; captureRadius = 10; duration = 62; initialDepth = 571.532063; finalDepth = 571.050859; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:571.050859 # Seafloor depth:-611.050859 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 116 # Segment length 62.348219 meters # Minimum depth: 611.532063 meters looking forward 0.000000 meters along route # Maximum depth: 611.532063 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 571.532063 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.004080; longitude = -119.244703; captureRadius = 10; duration = 62; initialDepth = 572.866678; finalDepth = 571.532063; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:571.532063 # Seafloor depth:-611.532063 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 116 # Segment length 62.348219 meters # Minimum depth: 612.866678 meters looking forward 0.000000 meters along route # Maximum depth: 612.866678 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 572.866678 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.003644; longitude = -119.244919; captureRadius = 10; duration = 62; initialDepth = 575.109108; finalDepth = 572.866678; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:572.866678 # Seafloor depth:-612.866678 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 116 # Segment length 62.348219 meters # Minimum depth: 615.109108 meters looking forward 0.000000 meters along route # Maximum depth: 615.109108 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 575.109108 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.003209; longitude = -119.245136; captureRadius = 10; duration = 62; initialDepth = 577.265691; finalDepth = 575.109108; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:575.109108 # Seafloor depth:-615.109108 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 116 # Segment length 62.348219 meters # Minimum depth: 617.265691 meters looking forward 0.000000 meters along route # Maximum depth: 617.265691 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 577.265691 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.002773; longitude = -119.245353; captureRadius = 10; duration = 62; initialDepth = 579.143835; finalDepth = 577.265691; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:577.265691 # Seafloor depth:-617.265691 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 116 # Segment length 62.348219 meters # Minimum depth: 619.143835 meters looking forward 0.000000 meters along route # Maximum depth: 619.143835 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 579.143835 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.002337; longitude = -119.245569; captureRadius = 10; duration = 62; initialDepth = 580.539114; finalDepth = 579.143835; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:579.143835 # Seafloor depth:-619.143835 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 116 # Segment length 62.348219 meters # Minimum depth: 620.539114 meters looking forward 0.000000 meters along route # Maximum depth: 620.539114 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 580.539114 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.001895; longitude = -119.245790; captureRadius = 10; duration = 62; initialDepth = 583.122458; finalDepth = 580.539114; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:580.539114 # Seafloor depth:-620.539114 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 116 # Segment length 62.348219 meters # Minimum depth: 623.122458 meters looking forward 0.000000 meters along route # Maximum depth: 623.122458 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 583.122458 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.001466; longitude = -119.246003; captureRadius = 10; duration = 62; initialDepth = 584.319722; finalDepth = 583.122458; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:583.122458 # Seafloor depth:-623.122458 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 116 # Segment length 62.348219 meters # Minimum depth: 624.319722 meters looking forward 0.000000 meters along route # Maximum depth: 624.319722 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 584.319722 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.001031; longitude = -119.246219; captureRadius = 10; duration = 62; initialDepth = 587.281853; finalDepth = 584.319722; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:584.319722 # Seafloor depth:-624.319722 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 116 # Segment length 62.348219 meters # Minimum depth: 627.281853 meters looking forward 0.000000 meters along route # Maximum depth: 627.281853 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 587.281853 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.000595; longitude = -119.246436; captureRadius = 10; duration = 62; initialDepth = 588.484704; finalDepth = 587.281853; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:587.281853 # Seafloor depth:-627.281853 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 116 # Segment length 62.348219 meters # Minimum depth: 628.484704 meters looking forward 0.000000 meters along route # Maximum depth: 628.484704 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 588.484704 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.000160; longitude = -119.246653; captureRadius = 10; duration = 62; initialDepth = 589.658915; finalDepth = 588.484704; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:588.484704 # Seafloor depth:-628.484704 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 116 # Segment length 62.348219 meters # Minimum depth: 629.658915 meters looking forward 0.000000 meters along route # Maximum depth: 629.658915 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 589.658915 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.999724; longitude = -119.246869; captureRadius = 10; duration = 62; initialDepth = 590.850666; finalDepth = 589.658915; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:589.658915 # Seafloor depth:-629.658915 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 116 # Segment length 62.348219 meters # Minimum depth: 630.850666 meters looking forward 0.000000 meters along route # Maximum depth: 630.850666 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 590.850666 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.999280; longitude = -119.247090; captureRadius = 10; duration = 62; initialDepth = 592.445695; finalDepth = 590.850666; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:590.850666 # Seafloor depth:-630.850666 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 116 # Segment length 62.348219 meters # Minimum depth: 632.445695 meters looking forward 0.000000 meters along route # Maximum depth: 632.445695 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 592.445695 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.998853; longitude = -119.247303; captureRadius = 10; duration = 62; initialDepth = 593.973006; finalDepth = 592.445695; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:592.445695 # Seafloor depth:-632.445695 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 116 # Segment length 62.348219 meters # Minimum depth: 633.973006 meters looking forward 0.000000 meters along route # Maximum depth: 633.973006 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 593.973006 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.998417; longitude = -119.247519; captureRadius = 10; duration = 62; initialDepth = 599.256630; finalDepth = 593.973006; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:593.973006 # Seafloor depth:-633.973006 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 116 # Segment length 62.348219 meters # Minimum depth: 639.256630 meters looking forward 0.000000 meters along route # Maximum depth: 639.256630 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 599.256630 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.997982; longitude = -119.247736; captureRadius = 10; duration = 62; initialDepth = 599.396799; finalDepth = 599.256630; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:599.25663 # Seafloor depth:-639.256630 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 116 # Segment length 62.348219 meters # Minimum depth: 639.396799 meters looking forward 0.000000 meters along route # Maximum depth: 639.396799 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 599.396799 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.997546; longitude = -119.247953; captureRadius = 10; duration = 62; initialDepth = 600.097871; finalDepth = 599.396799; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:599.396799 # Seafloor depth:-639.396799 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 116 # Segment length 62.348219 meters # Minimum depth: 640.097871 meters looking forward 0.000000 meters along route # Maximum depth: 640.097871 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 600.097871 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.997111; longitude = -119.248169; captureRadius = 10; duration = 62; initialDepth = 599.769922; finalDepth = 600.097871; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:600.097871 # Seafloor depth:-640.097871 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 116 # Segment length 62.348219 meters # Minimum depth: 639.769922 meters looking forward 0.000000 meters along route # Maximum depth: 639.769922 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 599.769922 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.996665; longitude = -119.248391; captureRadius = 10; duration = 62; initialDepth = 600.499779; finalDepth = 599.769922; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:599.769922 # Seafloor depth:-639.769922 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 116 # Segment length 62.348219 meters # Minimum depth: 640.499779 meters looking forward 0.000000 meters along route # Maximum depth: 640.499779 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 600.499779 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.996239; longitude = -119.248603; captureRadius = 10; duration = 62; initialDepth = 602.893944; finalDepth = 600.499779; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:600.499779 # Seafloor depth:-640.499779 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 116 # Segment length 62.348219 meters # Minimum depth: 642.893944 meters looking forward 0.000000 meters along route # Maximum depth: 642.893944 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 602.893944 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.995804; longitude = -119.248819; captureRadius = 10; duration = 62; initialDepth = 603.015759; finalDepth = 602.893944; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:602.893944 # Seafloor depth:-642.893944 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 116 # Segment length 62.348219 meters # Minimum depth: 643.015759 meters looking forward 0.000000 meters along route # Maximum depth: 643.015759 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 603.015759 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.995368; longitude = -119.249036; captureRadius = 10; duration = 62; initialDepth = 610.380074; finalDepth = 603.015759; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:603.015759 # Seafloor depth:-643.015759 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 116 # Segment length 62.348219 meters # Minimum depth: 650.380074 meters looking forward 0.000000 meters along route # Maximum depth: 650.380074 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 610.380074 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.994933; longitude = -119.249253; captureRadius = 10; duration = 62; initialDepth = 612.426477; finalDepth = 610.380074; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:610.380074 # Seafloor depth:-650.380074 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 116 # Segment length 62.348219 meters # Minimum depth: 652.426477 meters looking forward 0.000000 meters along route # Maximum depth: 652.426477 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 612.426477 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.994497; longitude = -119.249469; captureRadius = 10; duration = 62; initialDepth = 617.369157; finalDepth = 612.426477; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:612.426477 # Seafloor depth:-652.426477 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 116 # Segment length 62.348219 meters # Minimum depth: 657.369157 meters looking forward 0.000000 meters along route # Maximum depth: 657.369157 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 617.369157 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.994050; longitude = -119.249692; captureRadius = 10; duration = 62; initialDepth = 622.498747; finalDepth = 617.369157; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:617.369157 # Seafloor depth:-657.369157 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 116 # Segment length 62.348219 meters # Minimum depth: 662.498747 meters looking forward 0.000000 meters along route # Maximum depth: 662.498747 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 622.498747 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.993599; longitude = -119.249916; captureRadius = 10; duration = 62; initialDepth = 626.755302; finalDepth = 622.498747; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:622.498747 # Seafloor depth:-662.498747 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 116 # Segment length 62.348219 meters # Minimum depth: 666.755302 meters looking forward 0.000000 meters along route # Maximum depth: 666.755302 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 626.755302 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.993148; longitude = -119.250140; captureRadius = 10; duration = 62; initialDepth = 626.735876; finalDepth = 626.755302; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:626.755302 # Seafloor depth:-666.755302 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 116 # Segment length 62.348219 meters # Minimum depth: 666.735876 meters looking forward 0.000000 meters along route # Maximum depth: 666.735876 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 626.735876 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.992697; longitude = -119.250365; captureRadius = 10; duration = 62; initialDepth = 628.918781; finalDepth = 626.735876; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:626.735876 # Seafloor depth:-666.735876 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 116 # Segment length 62.348219 meters # Minimum depth: 668.918781 meters looking forward 0.000000 meters along route # Maximum depth: 668.918781 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 628.918781 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.992246; longitude = -119.250589; captureRadius = 10; duration = 62; initialDepth = 632.490240; finalDepth = 628.918781; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:628.918781 # Seafloor depth:-668.918781 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 116 # Segment length 62.348219 meters # Minimum depth: 672.490240 meters looking forward 0.000000 meters along route # Maximum depth: 672.490240 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 630.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.991795; longitude = -119.250813; captureRadius = 10; duration = 62; initialDepth = 636.694098; finalDepth = 630.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.49024 # Actual altitude: 50 # Commanded vehicle depth:630 # Seafloor depth:-672.490240 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 116 # Segment length 62.348219 meters # Minimum depth: 676.694098 meters looking forward 0.000000 meters along route # Maximum depth: 676.694098 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 630.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.991345; longitude = -119.251037; captureRadius = 10; duration = 62; initialDepth = 638.097412; finalDepth = 630.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.6940980000001 # Actual altitude: 50 # Commanded vehicle depth:630 # Seafloor depth:-676.694098 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 115 # Segment length 62.348219 meters # Minimum depth: 678.097412 meters looking forward 0.000000 meters along route # Maximum depth: 678.097412 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 630.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.990893; longitude = -119.251262; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 638.107218; finalDepth = 630.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.097412 # Actual altitude: 50 # Commanded vehicle depth:630 # Seafloor depth:-678.097412 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 115 # Segment length 62.348219 meters # Minimum depth: 678.107218 meters looking forward 0.000000 meters along route # Maximum depth: 678.107218 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 630.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.990984; longitude = -119.251555; captureRadius = 10; duration = 62; initialDepth = 638.280518; finalDepth = 630.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.107218 # Actual altitude: 50 # Commanded vehicle depth:630 # Seafloor depth:-678.107218 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 115 # Segment length 62.348219 meters # Minimum depth: 678.280518 meters looking forward 0.000000 meters along route # Maximum depth: 678.280518 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 630.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.991143; longitude = -119.252069; captureRadius = 10; duration = 62; initialDepth = 637.809560; finalDepth = 630.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.280518 # Actual altitude: 50 # Commanded vehicle depth:630 # Seafloor depth:-678.280518 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 115 # Segment length 62.348219 meters # Minimum depth: 677.809560 meters looking forward 0.000000 meters along route # Maximum depth: 677.809560 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 630.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.991311; longitude = -119.252611; captureRadius = 10; duration = 62; initialDepth = 634.959760; finalDepth = 630.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.280518 # Actual altitude: 50 # Commanded vehicle depth:630 # Seafloor depth:-677.809560 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 115 # Segment length 62.348219 meters # Minimum depth: 674.959760 meters looking forward 0.000000 meters along route # Maximum depth: 674.959760 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 630.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.991479; longitude = -119.253153; captureRadius = 10; duration = 62; initialDepth = 633.740297; finalDepth = 630.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.80956 # Actual altitude: 50 # Commanded vehicle depth:630 # Seafloor depth:-674.959760 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 115 # Segment length 62.348219 meters # Minimum depth: 673.740297 meters looking forward 0.000000 meters along route # Maximum depth: 673.740297 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 630.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.991646; longitude = -119.253694; captureRadius = 10; duration = 62; initialDepth = 634.439192; finalDepth = 630.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.95976 # Actual altitude: 50 # Commanded vehicle depth:630 # Seafloor depth:-673.740297 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 115 # Segment length 62.348219 meters # Minimum depth: 674.439192 meters looking forward 0.000000 meters along route # Maximum depth: 674.439192 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 630.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.991814; longitude = -119.254236; captureRadius = 10; duration = 62; initialDepth = 632.692485; finalDepth = 630.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.439192 # Actual altitude: 50 # Commanded vehicle depth:630 # Seafloor depth:-674.439192 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 115 # Segment length 62.348219 meters # Minimum depth: 672.692485 meters looking forward 0.000000 meters along route # Maximum depth: 672.692485 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 630.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.991982; longitude = -119.254778; captureRadius = 10; duration = 62; initialDepth = 633.786542; finalDepth = 630.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.439192 # Actual altitude: 50 # Commanded vehicle depth:630 # Seafloor depth:-672.692485 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 115 # Segment length 62.348219 meters # Minimum depth: 673.786542 meters looking forward 0.000000 meters along route # Maximum depth: 673.786542 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 630.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.992156; longitude = -119.255340; captureRadius = 10; duration = 62; initialDepth = 634.704884; finalDepth = 630.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.7865420000001 # Actual altitude: 50 # Commanded vehicle depth:630 # Seafloor depth:-673.786542 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 115 # Segment length 62.348219 meters # Minimum depth: 674.704884 meters looking forward 0.000000 meters along route # Maximum depth: 674.704884 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 630.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.992317; longitude = -119.255861; captureRadius = 10; duration = 62; initialDepth = 632.741284; finalDepth = 630.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.704884 # Actual altitude: 50 # Commanded vehicle depth:630 # Seafloor depth:-674.704884 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 115 # Segment length 62.348219 meters # Minimum depth: 672.741284 meters looking forward 0.000000 meters along route # Maximum depth: 672.741284 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 630.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.992485; longitude = -119.256403; captureRadius = 10; duration = 62; initialDepth = 632.581294; finalDepth = 630.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.704884 # Actual altitude: 50 # Commanded vehicle depth:630 # Seafloor depth:-672.741284 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 115 # Segment length 62.348219 meters # Minimum depth: 672.581294 meters looking forward 0.000000 meters along route # Maximum depth: 672.581294 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 630.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.992653; longitude = -119.256944; captureRadius = 10; duration = 62; initialDepth = 629.128781; finalDepth = 630.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.741284 # Actual altitude: 50 # Commanded vehicle depth:630 # Seafloor depth:-672.581294 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 115 # Segment length 62.348219 meters # Minimum depth: 669.128781 meters looking forward 0.000000 meters along route # Maximum depth: 669.128781 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 629.128781 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.992821; longitude = -119.257486; captureRadius = 10; duration = 62; initialDepth = 621.758240; finalDepth = 629.128781; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.581294 # Actual altitude: 50 # Commanded vehicle depth:629.128781 # Seafloor depth:-669.128781 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 114 # Segment length 62.348219 meters # Minimum depth: 661.758240 meters looking forward 0.000000 meters along route # Maximum depth: 661.758240 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 621.758240 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.992997; longitude = -119.258055; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 625.447585; finalDepth = 621.758240; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:621.75824 # Seafloor depth:-661.758240 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 114 # Segment length 62.348219 meters # Minimum depth: 665.447585 meters looking forward 0.000000 meters along route # Maximum depth: 665.447585 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 625.447585 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.992787; longitude = -119.257790; captureRadius = 10; duration = 62; initialDepth = 631.982771; finalDepth = 625.447585; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:625.447585 # Seafloor depth:-665.447585 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 114 # Segment length 62.348219 meters # Minimum depth: 671.982771 meters looking forward 0.000000 meters along route # Maximum depth: 671.982771 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 630.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.992460; longitude = -119.257378; captureRadius = 10; duration = 62; initialDepth = 634.897382; finalDepth = 630.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.982771 # Actual altitude: 50 # Commanded vehicle depth:630 # Seafloor depth:-671.982771 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 114 # Segment length 62.348219 meters # Minimum depth: 674.897382 meters looking forward 0.000000 meters along route # Maximum depth: 674.897382 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 630.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.992117; longitude = -119.256944; captureRadius = 10; duration = 62; initialDepth = 637.123772; finalDepth = 630.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.897382 # Actual altitude: 50 # Commanded vehicle depth:630 # Seafloor depth:-674.897382 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 114 # Segment length 62.348219 meters # Minimum depth: 677.123772 meters looking forward 0.000000 meters along route # Maximum depth: 677.123772 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 630.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.991774; longitude = -119.256511; captureRadius = 10; duration = 62; initialDepth = 636.090143; finalDepth = 630.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.123772 # Actual altitude: 50 # Commanded vehicle depth:630 # Seafloor depth:-677.123772 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 114 # Segment length 62.348219 meters # Minimum depth: 676.090143 meters looking forward 0.000000 meters along route # Maximum depth: 676.090143 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 630.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.991431; longitude = -119.256078; captureRadius = 10; duration = 62; initialDepth = 635.545417; finalDepth = 630.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.123772 # Actual altitude: 50 # Commanded vehicle depth:630 # Seafloor depth:-676.090143 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 114 # Segment length 62.348219 meters # Minimum depth: 675.545417 meters looking forward 0.000000 meters along route # Maximum depth: 675.545417 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 630.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.991074; longitude = -119.255627; captureRadius = 10; duration = 62; initialDepth = 637.821853; finalDepth = 630.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.090143 # Actual altitude: 50 # Commanded vehicle depth:630 # Seafloor depth:-675.545417 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 114 # Segment length 62.348219 meters # Minimum depth: 677.821853 meters looking forward 0.000000 meters along route # Maximum depth: 677.821853 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 630.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.990713; longitude = -119.255172; captureRadius = 10; duration = 62; initialDepth = 638.648236; finalDepth = 630.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.821853 # Actual altitude: 50 # Commanded vehicle depth:630 # Seafloor depth:-677.821853 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 114 # Segment length 62.348219 meters # Minimum depth: 678.648236 meters looking forward 0.000000 meters along route # Maximum depth: 678.648236 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 630.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.990401; longitude = -119.254778; captureRadius = 10; duration = 62; initialDepth = 639.239035; finalDepth = 630.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.648236 # Actual altitude: 50 # Commanded vehicle depth:630 # Seafloor depth:-678.648236 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 114 # Segment length 62.348219 meters # Minimum depth: 679.239035 meters looking forward 0.000000 meters along route # Maximum depth: 679.239035 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 630.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.990058; longitude = -119.254344; captureRadius = 10; duration = 62; initialDepth = 641.196584; finalDepth = 630.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.2390349999999 # Actual altitude: 50 # Commanded vehicle depth:630 # Seafloor depth:-679.239035 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 114 # Segment length 62.348219 meters # Minimum depth: 681.196584 meters looking forward 0.000000 meters along route # Maximum depth: 681.196584 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 630.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.989715; longitude = -119.253911; captureRadius = 10; duration = 62; initialDepth = 643.212143; finalDepth = 630.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 51.196584 # Actual altitude: 51.196584 # Commanded vehicle depth:630 # Seafloor depth:-681.196584 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.79; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.48; MB_Bottom_Detect_Filter_Max_Range = 204.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 113 # Segment length 62.348219 meters # Minimum depth: 683.212143 meters looking forward 0.000000 meters along route # Maximum depth: 683.212143 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 630.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.989391; longitude = -119.253502; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 643.869391; finalDepth = 630.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.212143 # Actual altitude: 53.212143 # Commanded vehicle depth:630 # Seafloor depth:-683.212143 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.85; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.28; MB_Bottom_Detect_Filter_Max_Range = 212.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 113 # Segment length 62.348219 meters # Minimum depth: 683.869391 meters looking forward 0.000000 meters along route # Maximum depth: 683.869391 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 630.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.989722; longitude = -119.253369; captureRadius = 10; duration = 62; initialDepth = 642.869525; finalDepth = 630.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.869391 # Actual altitude: 53.869391 # Commanded vehicle depth:630 # Seafloor depth:-683.869391 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.48; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.55; MB_Bottom_Detect_Filter_Max_Range = 215.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 161.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 113 # Segment length 62.348219 meters # Minimum depth: 682.869525 meters looking forward 0.000000 meters along route # Maximum depth: 682.869525 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 630.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.990172; longitude = -119.253189; captureRadius = 10; duration = 62; initialDepth = 640.685990; finalDepth = 630.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.869391 # Actual altitude: 53.869391 # Commanded vehicle depth:630 # Seafloor depth:-682.869525 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.48; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.55; MB_Bottom_Detect_Filter_Max_Range = 215.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 161.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 113 # Segment length 62.348219 meters # Minimum depth: 680.685990 meters looking forward 0.000000 meters along route # Maximum depth: 680.685990 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 630.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.990623; longitude = -119.253008; captureRadius = 10; duration = 62; initialDepth = 638.508489; finalDepth = 630.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.869525 # Actual altitude: 52.869525 # Commanded vehicle depth:630 # Seafloor depth:-680.685990 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.48; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.15; MB_Bottom_Detect_Filter_Max_Range = 211.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 113 # Segment length 62.348219 meters # Minimum depth: 678.508489 meters looking forward 0.000000 meters along route # Maximum depth: 678.508489 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 630.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.991074; longitude = -119.252828; captureRadius = 10; duration = 62; initialDepth = 637.077375; finalDepth = 630.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.6859899999999 # Actual altitude: 50.6859899999999 # Commanded vehicle depth:630 # Seafloor depth:-678.508489 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.74; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.27; MB_Bottom_Detect_Filter_Max_Range = 202.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 113 # Segment length 62.348219 meters # Minimum depth: 677.077375 meters looking forward 0.000000 meters along route # Maximum depth: 677.077375 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 630.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.991525; longitude = -119.252647; captureRadius = 10; duration = 62; initialDepth = 635.119165; finalDepth = 630.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.5084890000001 # Actual altitude: 50 # Commanded vehicle depth:630 # Seafloor depth:-677.077375 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 113 # Segment length 62.348219 meters # Minimum depth: 675.119165 meters looking forward 0.000000 meters along route # Maximum depth: 675.119165 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 630.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.991976; longitude = -119.252466; captureRadius = 10; duration = 62; initialDepth = 633.340898; finalDepth = 630.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.077375 # Actual altitude: 50 # Commanded vehicle depth:630 # Seafloor depth:-675.119165 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 113 # Segment length 62.348219 meters # Minimum depth: 673.340898 meters looking forward 0.000000 meters along route # Maximum depth: 673.340898 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 630.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.992427; longitude = -119.252286; captureRadius = 10; duration = 62; initialDepth = 632.323969; finalDepth = 630.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.119165 # Actual altitude: 50 # Commanded vehicle depth:630 # Seafloor depth:-673.340898 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 113 # Segment length 62.348219 meters # Minimum depth: 672.323969 meters looking forward 0.000000 meters along route # Maximum depth: 672.323969 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 630.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.992877; longitude = -119.252105; captureRadius = 10; duration = 62; initialDepth = 631.241431; finalDepth = 630.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.340898 # Actual altitude: 50 # Commanded vehicle depth:630 # Seafloor depth:-672.323969 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 113 # Segment length 62.348219 meters # Minimum depth: 671.241431 meters looking forward 0.000000 meters along route # Maximum depth: 671.241431 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 630.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.993328; longitude = -119.251924; captureRadius = 10; duration = 62; initialDepth = 628.455554; finalDepth = 630.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.323969 # Actual altitude: 50 # Commanded vehicle depth:630 # Seafloor depth:-671.241431 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 113 # Segment length 62.348219 meters # Minimum depth: 668.455554 meters looking forward 0.000000 meters along route # Maximum depth: 668.455554 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 628.455554 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.993779; longitude = -119.251744; captureRadius = 10; duration = 62; initialDepth = 626.824761; finalDepth = 628.455554; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.241431 # Actual altitude: 50 # Commanded vehicle depth:628.455554 # Seafloor depth:-668.455554 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 113 # Segment length 62.348219 meters # Minimum depth: 666.824761 meters looking forward 0.000000 meters along route # Maximum depth: 666.824761 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 626.824761 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.994230; longitude = -119.251563; captureRadius = 10; duration = 62; initialDepth = 625.279775; finalDepth = 626.824761; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:626.824761 # Seafloor depth:-666.824761 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 113 # Segment length 62.348219 meters # Minimum depth: 665.279775 meters looking forward 0.000000 meters along route # Maximum depth: 665.279775 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 625.279775 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.994681; longitude = -119.251382; captureRadius = 10; duration = 62; initialDepth = 622.812933; finalDepth = 625.279775; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:625.279775 # Seafloor depth:-665.279775 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 113 # Segment length 62.348219 meters # Minimum depth: 662.812933 meters looking forward 0.000000 meters along route # Maximum depth: 662.812933 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 622.812933 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.995132; longitude = -119.251202; captureRadius = 10; duration = 62; initialDepth = 613.647917; finalDepth = 622.812933; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:622.812933 # Seafloor depth:-662.812933 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 113 # Segment length 62.348219 meters # Minimum depth: 653.647917 meters looking forward 0.000000 meters along route # Maximum depth: 653.647917 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 613.647917 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.995583; longitude = -119.251021; captureRadius = 10; duration = 62; initialDepth = 612.715522; finalDepth = 613.647917; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:613.647917 # Seafloor depth:-653.647917 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 113 # Segment length 62.348219 meters # Minimum depth: 652.715522 meters looking forward 0.000000 meters along route # Maximum depth: 652.715522 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 612.715522 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.996034; longitude = -119.250840; captureRadius = 10; duration = 62; initialDepth = 611.293408; finalDepth = 612.715522; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:612.715522 # Seafloor depth:-652.715522 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 113 # Segment length 62.348219 meters # Minimum depth: 651.293408 meters looking forward 0.000000 meters along route # Maximum depth: 651.293408 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 611.293408 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.996484; longitude = -119.250660; captureRadius = 10; duration = 62; initialDepth = 608.765381; finalDepth = 611.293408; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:611.293408 # Seafloor depth:-651.293408 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 112 # Segment length 62.348219 meters # Minimum depth: 648.765381 meters looking forward 0.000000 meters along route # Maximum depth: 648.765381 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 608.765381 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.996965; longitude = -119.250467; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 608.809148; finalDepth = 608.765381; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:608.765381 # Seafloor depth:-648.765381 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 112 # Segment length 62.348219 meters # Minimum depth: 648.809148 meters looking forward 0.000000 meters along route # Maximum depth: 648.809148 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 608.809148 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.997025; longitude = -119.250435; captureRadius = 10; duration = 62; initialDepth = 606.465020; finalDepth = 608.809148; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:608.809148 # Seafloor depth:-648.809148 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 112 # Segment length 62.348219 meters # Minimum depth: 646.465020 meters looking forward 0.000000 meters along route # Maximum depth: 646.465020 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 606.465020 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.997476; longitude = -119.250198; captureRadius = 10; duration = 62; initialDepth = 605.147572; finalDepth = 606.465020; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:606.46502 # Seafloor depth:-646.465020 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 112 # Segment length 62.348219 meters # Minimum depth: 645.147572 meters looking forward 0.000000 meters along route # Maximum depth: 645.147572 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 605.147572 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.997927; longitude = -119.249961; captureRadius = 10; duration = 62; initialDepth = 604.287957; finalDepth = 605.147572; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:605.147572 # Seafloor depth:-645.147572 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 112 # Segment length 62.348219 meters # Minimum depth: 644.287957 meters looking forward 0.000000 meters along route # Maximum depth: 644.287957 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 604.287957 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.998378; longitude = -119.249724; captureRadius = 10; duration = 62; initialDepth = 602.609798; finalDepth = 604.287957; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:604.287957 # Seafloor depth:-644.287957 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 112 # Segment length 62.348219 meters # Minimum depth: 642.609798 meters looking forward 0.000000 meters along route # Maximum depth: 642.609798 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 602.609798 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.998862; longitude = -119.249469; captureRadius = 10; duration = 62; initialDepth = 600.602516; finalDepth = 602.609798; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:602.609798 # Seafloor depth:-642.609798 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 112 # Segment length 62.348219 meters # Minimum depth: 640.602516 meters looking forward 0.000000 meters along route # Maximum depth: 640.602516 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 600.602516 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.999280; longitude = -119.249250; captureRadius = 10; duration = 62; initialDepth = 599.537941; finalDepth = 600.602516; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:600.602516 # Seafloor depth:-640.602516 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 112 # Segment length 62.348219 meters # Minimum depth: 639.537941 meters looking forward 0.000000 meters along route # Maximum depth: 639.537941 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 599.537941 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.999731; longitude = -119.249012; captureRadius = 10; duration = 62; initialDepth = 599.544116; finalDepth = 599.537941; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:599.537941 # Seafloor depth:-639.537941 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 112 # Segment length 62.348219 meters # Minimum depth: 639.544116 meters looking forward 0.000000 meters along route # Maximum depth: 639.544116 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 599.544116 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.000181; longitude = -119.248775; captureRadius = 10; duration = 62; initialDepth = 598.002782; finalDepth = 599.544116; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:599.544116 # Seafloor depth:-639.544116 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 112 # Segment length 62.348219 meters # Minimum depth: 638.002782 meters looking forward 0.000000 meters along route # Maximum depth: 638.002782 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 598.002782 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.000632; longitude = -119.248538; captureRadius = 10; duration = 62; initialDepth = 597.774783; finalDepth = 598.002782; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:598.002782 # Seafloor depth:-638.002782 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 112 # Segment length 62.348219 meters # Minimum depth: 637.774783 meters looking forward 0.000000 meters along route # Maximum depth: 637.774783 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 597.774783 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.001083; longitude = -119.248301; captureRadius = 10; duration = 62; initialDepth = 596.732983; finalDepth = 597.774783; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:597.774783 # Seafloor depth:-637.774783 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 112 # Segment length 62.348219 meters # Minimum depth: 636.732983 meters looking forward 0.000000 meters along route # Maximum depth: 636.732983 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 596.732983 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.001540; longitude = -119.248061; captureRadius = 10; duration = 62; initialDepth = 595.446748; finalDepth = 596.732983; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:596.732983 # Seafloor depth:-636.732983 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 112 # Segment length 62.348219 meters # Minimum depth: 635.446748 meters looking forward 0.000000 meters along route # Maximum depth: 635.446748 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 595.446748 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.001985; longitude = -119.247827; captureRadius = 10; duration = 62; initialDepth = 595.644181; finalDepth = 595.446748; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:595.446748 # Seafloor depth:-635.446748 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 112 # Segment length 62.348219 meters # Minimum depth: 635.644181 meters looking forward 0.000000 meters along route # Maximum depth: 635.644181 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 595.644181 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.002436; longitude = -119.247590; captureRadius = 10; duration = 62; initialDepth = 593.057810; finalDepth = 595.644181; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:595.644181 # Seafloor depth:-635.644181 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 112 # Segment length 62.348219 meters # Minimum depth: 633.057810 meters looking forward 0.000000 meters along route # Maximum depth: 633.057810 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 593.057810 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.002887; longitude = -119.247352; captureRadius = 10; duration = 62; initialDepth = 591.048396; finalDepth = 593.057810; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:593.05781 # Seafloor depth:-633.057810 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 112 # Segment length 62.348219 meters # Minimum depth: 631.048396 meters looking forward 0.000000 meters along route # Maximum depth: 631.048396 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 591.048396 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.003337; longitude = -119.247115; captureRadius = 10; duration = 62; initialDepth = 590.568416; finalDepth = 591.048396; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:591.048396 # Seafloor depth:-631.048396 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 112 # Segment length 62.348219 meters # Minimum depth: 630.568416 meters looking forward 0.000000 meters along route # Maximum depth: 630.568416 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 590.568416 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.003805; longitude = -119.246869; captureRadius = 10; duration = 62; initialDepth = 587.480294; finalDepth = 590.568416; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:590.568416 # Seafloor depth:-630.568416 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 112 # Segment length 62.348219 meters # Minimum depth: 627.480294 meters looking forward 0.000000 meters along route # Maximum depth: 627.480294 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 587.480294 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.004239; longitude = -119.246641; captureRadius = 10; duration = 62; initialDepth = 586.070469; finalDepth = 587.480294; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:587.480294 # Seafloor depth:-627.480294 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 112 # Segment length 62.348219 meters # Minimum depth: 626.070469 meters looking forward 0.000000 meters along route # Maximum depth: 626.070469 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 586.070469 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.004690; longitude = -119.246404; captureRadius = 10; duration = 62; initialDepth = 585.753940; finalDepth = 586.070469; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:586.070469 # Seafloor depth:-626.070469 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 112 # Segment length 62.348219 meters # Minimum depth: 625.753940 meters looking forward 0.000000 meters along route # Maximum depth: 625.753940 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 585.753940 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.005141; longitude = -119.246167; captureRadius = 10; duration = 62; initialDepth = 585.950835; finalDepth = 585.753940; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:585.75394 # Seafloor depth:-625.753940 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 112 # Segment length 62.348219 meters # Minimum depth: 625.950835 meters looking forward 0.000000 meters along route # Maximum depth: 625.950835 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 585.950835 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.005592; longitude = -119.245930; captureRadius = 10; duration = 62; initialDepth = 584.593927; finalDepth = 585.950835; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:585.950835 # Seafloor depth:-625.950835 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 112 # Segment length 62.348219 meters # Minimum depth: 624.593927 meters looking forward 0.000000 meters along route # Maximum depth: 624.593927 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 584.593927 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.006071; longitude = -119.245678; captureRadius = 10; duration = 62; initialDepth = 583.650142; finalDepth = 584.593927; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:584.593927 # Seafloor depth:-624.593927 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 112 # Segment length 62.348219 meters # Minimum depth: 623.650142 meters looking forward 0.000000 meters along route # Maximum depth: 623.650142 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 583.650142 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.006493; longitude = -119.245455; captureRadius = 10; duration = 62; initialDepth = 582.273197; finalDepth = 583.650142; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:583.650142 # Seafloor depth:-623.650142 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 112 # Segment length 62.348219 meters # Minimum depth: 622.273197 meters looking forward 0.000000 meters along route # Maximum depth: 622.273197 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 582.273197 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.006944; longitude = -119.245218; captureRadius = 10; duration = 62; initialDepth = 580.873295; finalDepth = 582.273197; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:582.273197 # Seafloor depth:-622.273197 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 112 # Segment length 62.348219 meters # Minimum depth: 620.873295 meters looking forward 0.000000 meters along route # Maximum depth: 620.873295 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 580.873295 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.007395; longitude = -119.244981; captureRadius = 10; duration = 62; initialDepth = 580.137141; finalDepth = 580.873295; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:580.873295 # Seafloor depth:-620.873295 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 112 # Segment length 62.348219 meters # Minimum depth: 620.137141 meters looking forward 0.000000 meters along route # Maximum depth: 620.137141 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 580.137141 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.007846; longitude = -119.244744; captureRadius = 10; duration = 62; initialDepth = 578.926436; finalDepth = 580.137141; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:580.137141 # Seafloor depth:-620.137141 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 112 # Segment length 62.348219 meters # Minimum depth: 618.926436 meters looking forward 0.000000 meters along route # Maximum depth: 618.926436 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 578.926436 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.008297; longitude = -119.244507; captureRadius = 10; duration = 62; initialDepth = 578.202257; finalDepth = 578.926436; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:578.926436 # Seafloor depth:-618.926436 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 112 # Segment length 62.348219 meters # Minimum depth: 618.202257 meters looking forward 0.000000 meters along route # Maximum depth: 618.202257 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 578.202257 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.008749; longitude = -119.244269; captureRadius = 10; duration = 62; initialDepth = 577.110531; finalDepth = 578.202257; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:578.202257 # Seafloor depth:-618.202257 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 112 # Segment length 62.348219 meters # Minimum depth: 617.110531 meters looking forward 0.000000 meters along route # Maximum depth: 617.110531 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 577.110531 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.009199; longitude = -119.244033; captureRadius = 10; duration = 62; initialDepth = 576.287560; finalDepth = 577.110531; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:577.110531 # Seafloor depth:-617.110531 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 112 # Segment length 62.348219 meters # Minimum depth: 616.287560 meters looking forward 0.000000 meters along route # Maximum depth: 616.287560 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 576.287560 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.009649; longitude = -119.243795; captureRadius = 10; duration = 62; initialDepth = 573.411073; finalDepth = 576.287560; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:576.28756 # Seafloor depth:-616.287560 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 112 # Segment length 62.348219 meters # Minimum depth: 613.411073 meters looking forward 0.000000 meters along route # Maximum depth: 613.411073 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 573.411073 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.010100; longitude = -119.243558; captureRadius = 10; duration = 62; initialDepth = 571.603738; finalDepth = 573.411073; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:573.411073 # Seafloor depth:-613.411073 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 112 # Segment length 62.348219 meters # Minimum depth: 611.603738 meters looking forward 0.000000 meters along route # Maximum depth: 611.603738 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 571.603738 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.010551; longitude = -119.243321; captureRadius = 10; duration = 62; initialDepth = 568.269265; finalDepth = 571.603738; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:571.603738 # Seafloor depth:-611.603738 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 112 # Segment length 62.348219 meters # Minimum depth: 608.269265 meters looking forward 0.000000 meters along route # Maximum depth: 608.269265 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 568.269265 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.011014; longitude = -119.243078; captureRadius = 10; duration = 62; initialDepth = 565.790153; finalDepth = 568.269265; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:568.269265 # Seafloor depth:-608.269265 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 112 # Segment length 62.348219 meters # Minimum depth: 605.790153 meters looking forward 0.000000 meters along route # Maximum depth: 605.790153 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 565.790153 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.011453; longitude = -119.242847; captureRadius = 10; duration = 62; initialDepth = 564.073656; finalDepth = 565.790153; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:565.790153 # Seafloor depth:-605.790153 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 112 # Segment length 62.348219 meters # Minimum depth: 604.073656 meters looking forward 0.000000 meters along route # Maximum depth: 604.073656 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 564.073656 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.011904; longitude = -119.242610; captureRadius = 10; duration = 62; initialDepth = 565.702148; finalDepth = 564.073656; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:564.073656 # Seafloor depth:-604.073656 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 111 # Segment length 62.348219 meters # Minimum depth: 605.702148 meters looking forward 0.000000 meters along route # Maximum depth: 605.702148 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 565.702148 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.012354; longitude = -119.242373; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 566.083932; finalDepth = 565.702148; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:565.702148 # Seafloor depth:-605.702148 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 111 # Segment length 62.348219 meters # Minimum depth: 606.083932 meters looking forward 0.000000 meters along route # Maximum depth: 606.083932 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 566.083932 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.012445; longitude = -119.242290; captureRadius = 10; duration = 62; initialDepth = 563.869192; finalDepth = 566.083932; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:566.083932 # Seafloor depth:-606.083932 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 111 # Segment length 62.348219 meters # Minimum depth: 603.869192 meters looking forward 0.000000 meters along route # Maximum depth: 603.869192 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 563.869192 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.012806; longitude = -119.241962; captureRadius = 10; duration = 62; initialDepth = 562.779595; finalDepth = 563.869192; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:563.869192 # Seafloor depth:-603.869192 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 111 # Segment length 62.348219 meters # Minimum depth: 602.779595 meters looking forward 0.000000 meters along route # Maximum depth: 602.779595 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 562.779595 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.013166; longitude = -119.241633; captureRadius = 10; duration = 62; initialDepth = 559.819682; finalDepth = 562.779595; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:562.779595 # Seafloor depth:-602.779595 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 111 # Segment length 62.348219 meters # Minimum depth: 599.819682 meters looking forward 0.000000 meters along route # Maximum depth: 599.819682 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 559.819682 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.013527; longitude = -119.241305; captureRadius = 10; duration = 62; initialDepth = 558.059331; finalDepth = 559.819682; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:559.819682 # Seafloor depth:-599.819682 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 111 # Segment length 62.348219 meters # Minimum depth: 598.059331 meters looking forward 0.000000 meters along route # Maximum depth: 598.059331 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 558.059331 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.013888; longitude = -119.240976; captureRadius = 10; duration = 62; initialDepth = 556.678833; finalDepth = 558.059331; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:558.059331 # Seafloor depth:-598.059331 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 111 # Segment length 62.348219 meters # Minimum depth: 596.678833 meters looking forward 0.000000 meters along route # Maximum depth: 596.678833 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 556.678833 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.014248; longitude = -119.240647; captureRadius = 10; duration = 62; initialDepth = 556.679746; finalDepth = 556.678833; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:556.678833 # Seafloor depth:-596.678833 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 111 # Segment length 62.348219 meters # Minimum depth: 596.679746 meters looking forward 0.000000 meters along route # Maximum depth: 596.679746 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 556.679746 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.014609; longitude = -119.240319; captureRadius = 10; duration = 62; initialDepth = 558.885805; finalDepth = 556.679746; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:556.679746 # Seafloor depth:-596.679746 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 111 # Segment length 62.348219 meters # Minimum depth: 598.885805 meters looking forward 0.000000 meters along route # Maximum depth: 598.885805 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 558.885805 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.014970; longitude = -119.239990; captureRadius = 10; duration = 62; initialDepth = 560.064399; finalDepth = 558.885805; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:558.885805 # Seafloor depth:-598.885805 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 111 # Segment length 62.348219 meters # Minimum depth: 600.064399 meters looking forward 0.000000 meters along route # Maximum depth: 600.064399 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 560.064399 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.015330; longitude = -119.239662; captureRadius = 10; duration = 62; initialDepth = 559.617392; finalDepth = 560.064399; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:560.064399 # Seafloor depth:-600.064399 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 111 # Segment length 62.348219 meters # Minimum depth: 599.617392 meters looking forward 0.000000 meters along route # Maximum depth: 599.617392 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 559.617392 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.015691; longitude = -119.239333; captureRadius = 10; duration = 62; initialDepth = 559.931351; finalDepth = 559.617392; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:559.617392 # Seafloor depth:-599.617392 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 110 # Segment length 62.348219 meters # Minimum depth: 599.931351 meters looking forward 0.000000 meters along route # Maximum depth: 599.931351 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 559.931351 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.016082; longitude = -119.238977; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 559.553829; finalDepth = 559.931351; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:559.931351 # Seafloor depth:-599.931351 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 110 # Segment length 62.348219 meters # Minimum depth: 599.553829 meters looking forward 0.000000 meters along route # Maximum depth: 599.553829 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 559.553829 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.016142; longitude = -119.238914; captureRadius = 10; duration = 62; initialDepth = 558.453990; finalDepth = 559.553829; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:559.553829 # Seafloor depth:-599.553829 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 110 # Segment length 62.348219 meters # Minimum depth: 598.453990 meters looking forward 0.000000 meters along route # Maximum depth: 598.453990 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 558.453990 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.016512; longitude = -119.238528; captureRadius = 10; duration = 62; initialDepth = 560.182047; finalDepth = 558.453990; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:558.45399 # Seafloor depth:-598.453990 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 110 # Segment length 62.348219 meters # Minimum depth: 600.182047 meters looking forward 0.000000 meters along route # Maximum depth: 600.182047 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 560.182047 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.016863; longitude = -119.238162; captureRadius = 10; duration = 62; initialDepth = 563.259372; finalDepth = 560.182047; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:560.182047 # Seafloor depth:-600.182047 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 110 # Segment length 62.348219 meters # Minimum depth: 603.259372 meters looking forward 0.000000 meters along route # Maximum depth: 603.259372 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 563.259372 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.017239; longitude = -119.237769; captureRadius = 10; duration = 62; initialDepth = 562.562658; finalDepth = 563.259372; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:563.259372 # Seafloor depth:-603.259372 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 110 # Segment length 62.348219 meters # Minimum depth: 602.562658 meters looking forward 0.000000 meters along route # Maximum depth: 602.562658 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 562.562658 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.017585; longitude = -119.237409; captureRadius = 10; duration = 62; initialDepth = 560.178366; finalDepth = 562.562658; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:562.562658 # Seafloor depth:-602.562658 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 110 # Segment length 62.348219 meters # Minimum depth: 600.178366 meters looking forward 0.000000 meters along route # Maximum depth: 600.178366 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 560.178366 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.017966; longitude = -119.237011; captureRadius = 10; duration = 62; initialDepth = 558.636952; finalDepth = 560.178366; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:560.178366 # Seafloor depth:-600.178366 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 110 # Segment length 62.348219 meters # Minimum depth: 598.636952 meters looking forward 0.000000 meters along route # Maximum depth: 598.636952 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 558.636952 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.018306; longitude = -119.236656; captureRadius = 10; duration = 62; initialDepth = 557.527798; finalDepth = 558.636952; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:558.636952 # Seafloor depth:-598.636952 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 110 # Segment length 62.348219 meters # Minimum depth: 597.527798 meters looking forward 0.000000 meters along route # Maximum depth: 597.527798 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 557.527798 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.018667; longitude = -119.236279; captureRadius = 10; duration = 62; initialDepth = 557.497224; finalDepth = 557.527798; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:557.527798 # Seafloor depth:-597.527798 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 110 # Segment length 62.348219 meters # Minimum depth: 597.497224 meters looking forward 0.000000 meters along route # Maximum depth: 597.497224 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 557.497224 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.019027; longitude = -119.235903; captureRadius = 10; duration = 62; initialDepth = 556.518295; finalDepth = 557.497224; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:557.497224 # Seafloor depth:-597.497224 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 110 # Segment length 62.348219 meters # Minimum depth: 596.518295 meters looking forward 0.000000 meters along route # Maximum depth: 596.518295 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 556.518295 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.019388; longitude = -119.235526; captureRadius = 10; duration = 62; initialDepth = 554.729341; finalDepth = 556.518295; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:556.518295 # Seafloor depth:-596.518295 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 110 # Segment length 62.348219 meters # Minimum depth: 594.729341 meters looking forward 0.000000 meters along route # Maximum depth: 594.729341 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 554.729341 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.019749; longitude = -119.235150; captureRadius = 10; duration = 62; initialDepth = 552.910321; finalDepth = 554.729341; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:554.729341 # Seafloor depth:-594.729341 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 110 # Segment length 62.348219 meters # Minimum depth: 592.910321 meters looking forward 0.000000 meters along route # Maximum depth: 592.910321 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 552.910321 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.020109; longitude = -119.234774; captureRadius = 10; duration = 62; initialDepth = 551.451544; finalDepth = 552.910321; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:552.910321 # Seafloor depth:-592.910321 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 110 # Segment length 62.348219 meters # Minimum depth: 591.451544 meters looking forward 0.000000 meters along route # Maximum depth: 591.451544 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 551.451544 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.020470; longitude = -119.234397; captureRadius = 10; duration = 62; initialDepth = 549.146893; finalDepth = 551.451544; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:551.451544 # Seafloor depth:-591.451544 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 110 # Segment length 62.348219 meters # Minimum depth: 589.146893 meters looking forward 0.000000 meters along route # Maximum depth: 589.146893 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 549.146893 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.020831; longitude = -119.234021; captureRadius = 10; duration = 62; initialDepth = 548.402469; finalDepth = 549.146893; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:549.146893 # Seafloor depth:-589.146893 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 110 # Segment length 62.348219 meters # Minimum depth: 588.402469 meters looking forward 0.000000 meters along route # Maximum depth: 588.402469 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 548.402469 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.021192; longitude = -119.233644; captureRadius = 10; duration = 62; initialDepth = 547.494308; finalDepth = 548.402469; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:548.402469 # Seafloor depth:-588.402469 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 109 # Segment length 62.348219 meters # Minimum depth: 587.494308 meters looking forward 0.000000 meters along route # Maximum depth: 587.494308 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 547.494308 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.021552; longitude = -119.233268; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 546.737984; finalDepth = 547.494308; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:547.494308 # Seafloor depth:-587.494308 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 109 # Segment length 62.348219 meters # Minimum depth: 586.737984 meters looking forward 0.000000 meters along route # Maximum depth: 586.737984 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 546.737984 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.021733; longitude = -119.232947; captureRadius = 10; duration = 62; initialDepth = 545.875512; finalDepth = 546.737984; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:546.737984 # Seafloor depth:-586.737984 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 109 # Segment length 62.348219 meters # Minimum depth: 585.875512 meters looking forward 0.000000 meters along route # Maximum depth: 585.875512 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 545.875512 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.022006; longitude = -119.232461; captureRadius = 10; duration = 62; initialDepth = 544.614385; finalDepth = 545.875512; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:545.875512 # Seafloor depth:-585.875512 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 109 # Segment length 62.348219 meters # Minimum depth: 584.614385 meters looking forward 0.000000 meters along route # Maximum depth: 584.614385 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 544.614385 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.022274; longitude = -119.231984; captureRadius = 10; duration = 62; initialDepth = 541.909601; finalDepth = 544.614385; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:544.614385 # Seafloor depth:-584.614385 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 109 # Segment length 62.348219 meters # Minimum depth: 581.909601 meters looking forward 0.000000 meters along route # Maximum depth: 581.909601 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 541.909601 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.022554; longitude = -119.231486; captureRadius = 10; duration = 62; initialDepth = 538.576089; finalDepth = 541.909601; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:541.909601 # Seafloor depth:-581.909601 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 109 # Segment length 62.348219 meters # Minimum depth: 578.576089 meters looking forward 0.000000 meters along route # Maximum depth: 578.576089 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 538.576089 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.022815; longitude = -119.231022; captureRadius = 10; duration = 62; initialDepth = 537.176702; finalDepth = 538.576089; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:538.576089 # Seafloor depth:-578.576089 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 109 # Segment length 62.348219 meters # Minimum depth: 577.176702 meters looking forward 0.000000 meters along route # Maximum depth: 577.176702 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 537.176702 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.023102; longitude = -119.230511; captureRadius = 10; duration = 62; initialDepth = 534.272654; finalDepth = 537.176702; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:537.176702 # Seafloor depth:-577.176702 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 109 # Segment length 62.348219 meters # Minimum depth: 574.272654 meters looking forward 0.000000 meters along route # Maximum depth: 574.272654 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 534.272654 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.023356; longitude = -119.230059; captureRadius = 10; duration = 62; initialDepth = 532.069848; finalDepth = 534.272654; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:534.272654 # Seafloor depth:-574.272654 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 109 # Segment length 62.348219 meters # Minimum depth: 572.069848 meters looking forward 0.000000 meters along route # Maximum depth: 572.069848 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 532.069848 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.023626; longitude = -119.229578; captureRadius = 10; duration = 62; initialDepth = 534.117931; finalDepth = 532.069848; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:532.069848 # Seafloor depth:-572.069848 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 109 # Segment length 62.348219 meters # Minimum depth: 574.117931 meters looking forward 0.000000 meters along route # Maximum depth: 574.117931 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 534.117931 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.023897; longitude = -119.229097; captureRadius = 10; duration = 62; initialDepth = 530.810670; finalDepth = 534.117931; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:534.117931 # Seafloor depth:-574.117931 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 109 # Segment length 62.348219 meters # Minimum depth: 570.810670 meters looking forward 0.000000 meters along route # Maximum depth: 570.810670 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 530.810670 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.024167; longitude = -119.228615; captureRadius = 10; duration = 62; initialDepth = 527.548278; finalDepth = 530.810670; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:530.81067 # Seafloor depth:-570.810670 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 109 # Segment length 62.348219 meters # Minimum depth: 567.548278 meters looking forward 0.000000 meters along route # Maximum depth: 567.548278 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 527.548278 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.024441; longitude = -119.228128; captureRadius = 10; duration = 62; initialDepth = 524.121629; finalDepth = 527.548278; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:527.548278 # Seafloor depth:-567.548278 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 109 # Segment length 62.348219 meters # Minimum depth: 564.121629 meters looking forward 0.000000 meters along route # Maximum depth: 564.121629 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 524.121629 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.024708; longitude = -119.227653; captureRadius = 10; duration = 62; initialDepth = 524.867719; finalDepth = 524.121629; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:524.121629 # Seafloor depth:-564.121629 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 109 # Segment length 62.348219 meters # Minimum depth: 564.867719 meters looking forward 0.000000 meters along route # Maximum depth: 564.867719 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 524.867719 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.024989; longitude = -119.227153; captureRadius = 10; duration = 62; initialDepth = 524.369693; finalDepth = 524.867719; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:524.867719 # Seafloor depth:-564.867719 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 109 # Segment length 62.348219 meters # Minimum depth: 564.369693 meters looking forward 0.000000 meters along route # Maximum depth: 564.369693 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 524.369693 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.025249; longitude = -119.226690; captureRadius = 10; duration = 62; initialDepth = 527.363246; finalDepth = 524.369693; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:524.369693 # Seafloor depth:-564.369693 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 109 # Segment length 62.348219 meters # Minimum depth: 567.363246 meters looking forward 0.000000 meters along route # Maximum depth: 567.363246 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 527.363246 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.025537; longitude = -119.226178; captureRadius = 10; duration = 62; initialDepth = 527.692365; finalDepth = 527.363246; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:527.363246 # Seafloor depth:-567.363246 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 109 # Segment length 62.348219 meters # Minimum depth: 567.692365 meters looking forward 0.000000 meters along route # Maximum depth: 567.692365 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 527.692365 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.025790; longitude = -119.225728; captureRadius = 10; duration = 62; initialDepth = 513.384094; finalDepth = 527.692365; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:527.692365 # Seafloor depth:-567.692365 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 108 # Segment length 62.348219 meters # Minimum depth: 553.384094 meters looking forward 0.000000 meters along route # Maximum depth: 553.384094 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 513.384094 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.026061; longitude = -119.225246; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 513.424257; finalDepth = 513.384094; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:513.384094 # Seafloor depth:-553.384094 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 108 # Segment length 62.348219 meters # Minimum depth: 553.424257 meters looking forward 0.000000 meters along route # Maximum depth: 553.424257 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 513.424257 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.026151; longitude = -119.225353; captureRadius = 10; duration = 62; initialDepth = 513.236908; finalDepth = 513.424257; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:513.424257 # Seafloor depth:-553.424257 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 108 # Segment length 62.348219 meters # Minimum depth: 553.236908 meters looking forward 0.000000 meters along route # Maximum depth: 553.236908 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 513.236908 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.026512; longitude = -119.225783; captureRadius = 10; duration = 62; initialDepth = 507.032552; finalDepth = 513.236908; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:513.236908 # Seafloor depth:-553.236908 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 108 # Segment length 62.348219 meters # Minimum depth: 547.032552 meters looking forward 0.000000 meters along route # Maximum depth: 547.032552 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 507.032552 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.026872; longitude = -119.226213; captureRadius = 10; duration = 62; initialDepth = 504.341166; finalDepth = 507.032552; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:507.032552 # Seafloor depth:-547.032552 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 108 # Segment length 62.348219 meters # Minimum depth: 544.341166 meters looking forward 0.000000 meters along route # Maximum depth: 544.341166 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 504.341166 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.027233; longitude = -119.226643; captureRadius = 10; duration = 62; initialDepth = 499.317143; finalDepth = 504.341166; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:504.341166 # Seafloor depth:-544.341166 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 108 # Segment length 62.348219 meters # Minimum depth: 539.317143 meters looking forward 0.000000 meters along route # Maximum depth: 539.317143 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 499.317143 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.027594; longitude = -119.227073; captureRadius = 10; duration = 62; initialDepth = 491.745110; finalDepth = 499.317143; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:499.317143 # Seafloor depth:-539.317143 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 108 # Segment length 62.348219 meters # Minimum depth: 531.745110 meters looking forward 0.000000 meters along route # Maximum depth: 531.745110 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 491.745110 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.027954; longitude = -119.227503; captureRadius = 10; duration = 62; initialDepth = 488.831728; finalDepth = 491.745110; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:491.74511 # Seafloor depth:-531.745110 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 108 # Segment length 62.348219 meters # Minimum depth: 528.831728 meters looking forward 0.000000 meters along route # Maximum depth: 528.831728 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 488.831728 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.028315; longitude = -119.227933; captureRadius = 10; duration = 62; initialDepth = 487.739040; finalDepth = 488.831728; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:488.831728 # Seafloor depth:-528.831728 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 108 # Segment length 62.348219 meters # Minimum depth: 527.739040 meters looking forward 0.000000 meters along route # Maximum depth: 527.739040 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 487.739040 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.028676; longitude = -119.228364; captureRadius = 10; duration = 62; initialDepth = 485.581933; finalDepth = 487.739040; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:487.73904 # Seafloor depth:-527.739040 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 108 # Segment length 62.348219 meters # Minimum depth: 525.581933 meters looking forward 0.000000 meters along route # Maximum depth: 525.581933 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 485.581933 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.029037; longitude = -119.228794; captureRadius = 10; duration = 62; initialDepth = 482.828056; finalDepth = 485.581933; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:485.581933 # Seafloor depth:-525.581933 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 108 # Segment length 62.348219 meters # Minimum depth: 522.828056 meters looking forward 0.000000 meters along route # Maximum depth: 522.828056 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 482.828056 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.029397; longitude = -119.229224; captureRadius = 10; duration = 62; initialDepth = 482.636914; finalDepth = 482.828056; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:482.828056 # Seafloor depth:-522.828056 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 108 # Segment length 62.348219 meters # Minimum depth: 522.636914 meters looking forward 0.000000 meters along route # Maximum depth: 522.636914 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 482.636914 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.029758; longitude = -119.229654; captureRadius = 10; duration = 62; initialDepth = 481.640405; finalDepth = 482.636914; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:482.636914 # Seafloor depth:-522.636914 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 108 # Segment length 62.348219 meters # Minimum depth: 521.640405 meters looking forward 0.000000 meters along route # Maximum depth: 521.640405 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 481.640405 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.030119; longitude = -119.230084; captureRadius = 10; duration = 62; initialDepth = 477.425752; finalDepth = 481.640405; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:481.640405 # Seafloor depth:-521.640405 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 108 # Segment length 62.348219 meters # Minimum depth: 517.425752 meters looking forward 0.000000 meters along route # Maximum depth: 517.425752 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 477.425752 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.030479; longitude = -119.230514; captureRadius = 10; duration = 62; initialDepth = 472.315112; finalDepth = 477.425752; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:477.425752 # Seafloor depth:-517.425752 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 108 # Segment length 62.348219 meters # Minimum depth: 512.315112 meters looking forward 0.000000 meters along route # Maximum depth: 512.315112 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 472.315112 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.030841; longitude = -119.230944; captureRadius = 10; duration = 62; initialDepth = 462.588853; finalDepth = 472.315112; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:472.315112 # Seafloor depth:-512.315112 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 108 # Segment length 62.348219 meters # Minimum depth: 502.588853 meters looking forward 0.000000 meters along route # Maximum depth: 502.588853 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 462.588853 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.031204; longitude = -119.231378; captureRadius = 10; duration = 62; initialDepth = 455.553516; finalDepth = 462.588853; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:462.588853 # Seafloor depth:-502.588853 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 108 # Segment length 62.348219 meters # Minimum depth: 495.553516 meters looking forward 0.000000 meters along route # Maximum depth: 495.553516 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 455.553516 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.031567; longitude = -119.231811; captureRadius = 10; duration = 62; initialDepth = 449.891017; finalDepth = 455.553516; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:455.553516 # Seafloor depth:-495.553516 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 108 # Segment length 62.348219 meters # Minimum depth: 489.891017 meters looking forward 0.000000 meters along route # Maximum depth: 489.891017 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 449.891017 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.031931; longitude = -119.232244; captureRadius = 10; duration = 62; initialDepth = 448.264273; finalDepth = 449.891017; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:449.891017 # Seafloor depth:-489.891017 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 108 # Segment length 62.348219 meters # Minimum depth: 488.264273 meters looking forward 0.000000 meters along route # Maximum depth: 488.264273 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 448.264273 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.032294; longitude = -119.232678; captureRadius = 10; duration = 62; initialDepth = 450.211392; finalDepth = 448.264273; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:448.264273 # Seafloor depth:-488.264273 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 108 # Segment length 62.348219 meters # Minimum depth: 490.211392 meters looking forward 0.000000 meters along route # Maximum depth: 490.211392 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 450.211392 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.032658; longitude = -119.233111; captureRadius = 10; duration = 62; initialDepth = 448.105771; finalDepth = 450.211392; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:450.211392 # Seafloor depth:-490.211392 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 108 # Segment length 62.348219 meters # Minimum depth: 488.105771 meters looking forward 0.000000 meters along route # Maximum depth: 488.105771 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 448.105771 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.033021; longitude = -119.233544; captureRadius = 10; duration = 62; initialDepth = 445.172256; finalDepth = 448.105771; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:448.105771 # Seafloor depth:-488.105771 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 107 # Segment length 62.348219 meters # Minimum depth: 485.172256 meters looking forward 0.000000 meters along route # Maximum depth: 485.172256 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 445.172256 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.033395; longitude = -119.233990; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 447.405494; finalDepth = 445.172256; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:445.172256 # Seafloor depth:-485.172256 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 107 # Segment length 62.348219 meters # Minimum depth: 487.405494 meters looking forward 0.000000 meters along route # Maximum depth: 487.405494 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 447.405494 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.033512; longitude = -119.234086; captureRadius = 10; duration = 62; initialDepth = 451.695475; finalDepth = 447.405494; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:447.405494 # Seafloor depth:-487.405494 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 107 # Segment length 62.348219 meters # Minimum depth: 491.695475 meters looking forward 0.000000 meters along route # Maximum depth: 491.695475 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 451.695475 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.033908; longitude = -119.234411; captureRadius = 10; duration = 62; initialDepth = 453.364865; finalDepth = 451.695475; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:451.695475 # Seafloor depth:-491.695475 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 107 # Segment length 62.348219 meters # Minimum depth: 493.364865 meters looking forward 0.000000 meters along route # Maximum depth: 493.364865 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 453.364865 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.034304; longitude = -119.234736; captureRadius = 10; duration = 62; initialDepth = 453.511233; finalDepth = 453.364865; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:453.364865 # Seafloor depth:-493.364865 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 107 # Segment length 62.348219 meters # Minimum depth: 493.511233 meters looking forward 0.000000 meters along route # Maximum depth: 493.511233 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 453.511233 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.034717; longitude = -119.235076; captureRadius = 10; duration = 62; initialDepth = 456.650793; finalDepth = 453.511233; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:453.511233 # Seafloor depth:-493.511233 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 107 # Segment length 62.348219 meters # Minimum depth: 496.650793 meters looking forward 0.000000 meters along route # Maximum depth: 496.650793 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 456.650793 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.035095; longitude = -119.235386; captureRadius = 10; duration = 62; initialDepth = 457.624009; finalDepth = 456.650793; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:456.650793 # Seafloor depth:-496.650793 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 107 # Segment length 62.348219 meters # Minimum depth: 497.624009 meters looking forward 0.000000 meters along route # Maximum depth: 497.624009 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 457.624009 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.035491; longitude = -119.235711; captureRadius = 10; duration = 62; initialDepth = 456.361514; finalDepth = 457.624009; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:457.624009 # Seafloor depth:-497.624009 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 107 # Segment length 62.348219 meters # Minimum depth: 496.361514 meters looking forward 0.000000 meters along route # Maximum depth: 496.361514 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 456.361514 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.035890; longitude = -119.236038; captureRadius = 10; duration = 62; initialDepth = 458.000382; finalDepth = 456.361514; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:456.361514 # Seafloor depth:-496.361514 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 107 # Segment length 62.348219 meters # Minimum depth: 498.000382 meters looking forward 0.000000 meters along route # Maximum depth: 498.000382 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 458.000382 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.036283; longitude = -119.236361; captureRadius = 10; duration = 62; initialDepth = 454.526210; finalDepth = 458.000382; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:458.000382 # Seafloor depth:-498.000382 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 107 # Segment length 62.348219 meters # Minimum depth: 494.526210 meters looking forward 0.000000 meters along route # Maximum depth: 494.526210 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 454.526210 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.036701; longitude = -119.236705; captureRadius = 10; duration = 62; initialDepth = 457.834802; finalDepth = 454.526210; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:454.52621 # Seafloor depth:-494.526210 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 107 # Segment length 62.348219 meters # Minimum depth: 497.834802 meters looking forward 0.000000 meters along route # Maximum depth: 497.834802 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 457.834802 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.037074; longitude = -119.237011; captureRadius = 10; duration = 62; initialDepth = 453.715491; finalDepth = 457.834802; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:457.834802 # Seafloor depth:-497.834802 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 107 # Segment length 62.348219 meters # Minimum depth: 493.715491 meters looking forward 0.000000 meters along route # Maximum depth: 493.715491 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 453.715491 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.037470; longitude = -119.237336; captureRadius = 10; duration = 62; initialDepth = 463.867524; finalDepth = 453.715491; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:453.715491 # Seafloor depth:-493.715491 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 107 # Segment length 62.348219 meters # Minimum depth: 503.867524 meters looking forward 0.000000 meters along route # Maximum depth: 503.867524 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 463.867524 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.037873; longitude = -119.237667; captureRadius = 10; duration = 62; initialDepth = 471.701515; finalDepth = 463.867524; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:463.867524 # Seafloor depth:-503.867524 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 106 # Segment length 62.348219 meters # Minimum depth: 511.701515 meters looking forward 0.000000 meters along route # Maximum depth: 511.701515 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 471.701515 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.038324; longitude = -119.238037; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 473.013362; finalDepth = 471.701515; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:471.701515 # Seafloor depth:-511.701515 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 106 # Segment length 62.348219 meters # Minimum depth: 513.013362 meters looking forward 0.000000 meters along route # Maximum depth: 513.013362 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 473.013362 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.038595; longitude = -119.238283; captureRadius = 10; duration = 62; initialDepth = 467.095290; finalDepth = 473.013362; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:473.013362 # Seafloor depth:-513.013362 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 106 # Segment length 62.348219 meters # Minimum depth: 507.095290 meters looking forward 0.000000 meters along route # Maximum depth: 507.095290 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 467.095290 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.038955; longitude = -119.238611; captureRadius = 10; duration = 62; initialDepth = 468.873534; finalDepth = 467.095290; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:467.09529 # Seafloor depth:-507.095290 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 106 # Segment length 62.348219 meters # Minimum depth: 508.873534 meters looking forward 0.000000 meters along route # Maximum depth: 508.873534 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 468.873534 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.039316; longitude = -119.238939; captureRadius = 10; duration = 62; initialDepth = 465.963203; finalDepth = 468.873534; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:468.873534 # Seafloor depth:-508.873534 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 106 # Segment length 62.348219 meters # Minimum depth: 505.963203 meters looking forward 0.000000 meters along route # Maximum depth: 505.963203 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 465.963203 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.039677; longitude = -119.239267; captureRadius = 10; duration = 62; initialDepth = 463.770143; finalDepth = 465.963203; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:465.963203 # Seafloor depth:-505.963203 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 106 # Segment length 62.348219 meters # Minimum depth: 503.770143 meters looking forward 0.000000 meters along route # Maximum depth: 503.770143 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 463.770143 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.040038; longitude = -119.239595; captureRadius = 10; duration = 62; initialDepth = 462.417042; finalDepth = 463.770143; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:463.770143 # Seafloor depth:-503.770143 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 106 # Segment length 62.348219 meters # Minimum depth: 502.417042 meters looking forward 0.000000 meters along route # Maximum depth: 502.417042 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 462.417042 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.040413; longitude = -119.239936; captureRadius = 10; duration = 62; initialDepth = 462.894440; finalDepth = 462.417042; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:462.417042 # Seafloor depth:-502.417042 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 105 # Segment length 62.348219 meters # Minimum depth: 502.894440 meters looking forward 0.000000 meters along route # Maximum depth: 502.894440 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 462.894440 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.040789; longitude = -119.240278; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 464.931511; finalDepth = 462.894440; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:462.89444 # Seafloor depth:-502.894440 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 105 # Segment length 62.348219 meters # Minimum depth: 504.931511 meters looking forward 0.000000 meters along route # Maximum depth: 504.931511 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 464.931511 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.040939; longitude = -119.240421; captureRadius = 10; duration = 62; initialDepth = 466.942363; finalDepth = 464.931511; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:464.931511 # Seafloor depth:-504.931511 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 105 # Segment length 62.348219 meters # Minimum depth: 506.942363 meters looking forward 0.000000 meters along route # Maximum depth: 506.942363 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 466.942363 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.041300; longitude = -119.240765; captureRadius = 10; duration = 62; initialDepth = 467.812124; finalDepth = 466.942363; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:466.942363 # Seafloor depth:-506.942363 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 105 # Segment length 62.348219 meters # Minimum depth: 507.812124 meters looking forward 0.000000 meters along route # Maximum depth: 507.812124 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 467.812124 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.041661; longitude = -119.241109; captureRadius = 10; duration = 62; initialDepth = 467.754419; finalDepth = 467.812124; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:467.812124 # Seafloor depth:-507.812124 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 105 # Segment length 62.348219 meters # Minimum depth: 507.754419 meters looking forward 0.000000 meters along route # Maximum depth: 507.754419 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 467.754419 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.042021; longitude = -119.241453; captureRadius = 10; duration = 62; initialDepth = 466.054904; finalDepth = 467.754419; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:467.754419 # Seafloor depth:-507.754419 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 105 # Segment length 62.348219 meters # Minimum depth: 506.054904 meters looking forward 0.000000 meters along route # Maximum depth: 506.054904 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 466.054904 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.042382; longitude = -119.241797; captureRadius = 10; duration = 62; initialDepth = 461.065641; finalDepth = 466.054904; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:466.054904 # Seafloor depth:-506.054904 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 105 # Segment length 62.348219 meters # Minimum depth: 501.065641 meters looking forward 0.000000 meters along route # Maximum depth: 501.065641 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 461.065641 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.042743; longitude = -119.242141; captureRadius = 10; duration = 62; initialDepth = 453.935952; finalDepth = 461.065641; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:461.065641 # Seafloor depth:-501.065641 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 105 # Segment length 62.348219 meters # Minimum depth: 493.935952 meters looking forward 0.000000 meters along route # Maximum depth: 493.935952 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 453.935952 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.043103; longitude = -119.242484; captureRadius = 10; duration = 62; initialDepth = 451.738398; finalDepth = 453.935952; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:453.935952 # Seafloor depth:-493.935952 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 105 # Segment length 62.348219 meters # Minimum depth: 491.738398 meters looking forward 0.000000 meters along route # Maximum depth: 491.738398 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 451.738398 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.043464; longitude = -119.242828; captureRadius = 10; duration = 62; initialDepth = 455.482168; finalDepth = 451.738398; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:451.738398 # Seafloor depth:-491.738398 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 105 # Segment length 62.348219 meters # Minimum depth: 495.482168 meters looking forward 0.000000 meters along route # Maximum depth: 495.482168 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 455.482168 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.043825; longitude = -119.243172; captureRadius = 10; duration = 62; initialDepth = 456.287225; finalDepth = 455.482168; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:455.482168 # Seafloor depth:-495.482168 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 105 # Segment length 62.348219 meters # Minimum depth: 496.287225 meters looking forward 0.000000 meters along route # Maximum depth: 496.287225 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 456.287225 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.044185; longitude = -119.243516; captureRadius = 10; duration = 62; initialDepth = 455.559860; finalDepth = 456.287225; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:456.287225 # Seafloor depth:-496.287225 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 105 # Segment length 62.348219 meters # Minimum depth: 495.559860 meters looking forward 0.000000 meters along route # Maximum depth: 495.559860 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 455.559860 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.044546; longitude = -119.243860; captureRadius = 10; duration = 62; initialDepth = 454.885942; finalDepth = 455.559860; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:455.55986 # Seafloor depth:-495.559860 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 105 # Segment length 62.348219 meters # Minimum depth: 494.885942 meters looking forward 0.000000 meters along route # Maximum depth: 494.885942 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 454.885942 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.044907; longitude = -119.244204; captureRadius = 10; duration = 62; initialDepth = 454.609630; finalDepth = 454.885942; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:454.885942 # Seafloor depth:-494.885942 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 105 # Segment length 62.348219 meters # Minimum depth: 494.609630 meters looking forward 0.000000 meters along route # Maximum depth: 494.609630 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 454.609630 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.045267; longitude = -119.244548; captureRadius = 10; duration = 62; initialDepth = 455.134758; finalDepth = 454.609630; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:454.60963 # Seafloor depth:-494.609630 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 105 # Segment length 62.348219 meters # Minimum depth: 495.134758 meters looking forward 0.000000 meters along route # Maximum depth: 495.134758 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 455.134758 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.045657; longitude = -119.244919; captureRadius = 10; duration = 62; initialDepth = 452.856636; finalDepth = 455.134758; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:455.134758 # Seafloor depth:-495.134758 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 104 # Segment length 62.348219 meters # Minimum depth: 492.856636 meters looking forward 0.000000 meters along route # Maximum depth: 492.856636 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 452.856636 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.046019; longitude = -119.245264; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 453.147803; finalDepth = 452.856636; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:452.856636 # Seafloor depth:-492.856636 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 104 # Segment length 62.348219 meters # Minimum depth: 493.147803 meters looking forward 0.000000 meters along route # Maximum depth: 493.147803 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 453.147803 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.046440; longitude = -119.245340; captureRadius = 10; duration = 62; initialDepth = 454.453306; finalDepth = 453.147803; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:453.147803 # Seafloor depth:-493.147803 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 104 # Segment length 62.348219 meters # Minimum depth: 494.453306 meters looking forward 0.000000 meters along route # Maximum depth: 494.453306 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 454.453306 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.046891; longitude = -119.245421; captureRadius = 10; duration = 62; initialDepth = 460.028636; finalDepth = 454.453306; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:454.453306 # Seafloor depth:-494.453306 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 104 # Segment length 62.348219 meters # Minimum depth: 500.028636 meters looking forward 0.000000 meters along route # Maximum depth: 500.028636 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 460.028636 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.047341; longitude = -119.245502; captureRadius = 10; duration = 62; initialDepth = 464.223776; finalDepth = 460.028636; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:460.028636 # Seafloor depth:-500.028636 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 104 # Segment length 62.348219 meters # Minimum depth: 504.223776 meters looking forward 0.000000 meters along route # Maximum depth: 504.223776 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 464.223776 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.047792; longitude = -119.245584; captureRadius = 10; duration = 62; initialDepth = 468.839066; finalDepth = 464.223776; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:464.223776 # Seafloor depth:-504.223776 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 104 # Segment length 62.348219 meters # Minimum depth: 508.839066 meters looking forward 0.000000 meters along route # Maximum depth: 508.839066 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 468.839066 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.048243; longitude = -119.245665; captureRadius = 10; duration = 62; initialDepth = 466.983109; finalDepth = 468.839066; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:468.839066 # Seafloor depth:-508.839066 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 104 # Segment length 62.348219 meters # Minimum depth: 506.983109 meters looking forward 0.000000 meters along route # Maximum depth: 506.983109 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 466.983109 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.048694; longitude = -119.245746; captureRadius = 10; duration = 62; initialDepth = 442.753005; finalDepth = 466.983109; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:466.983109 # Seafloor depth:-506.983109 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 104 # Segment length 62.348219 meters # Minimum depth: 482.753005 meters looking forward 0.000000 meters along route # Maximum depth: 482.753005 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 442.753005 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.049145; longitude = -119.245827; captureRadius = 10; duration = 62; initialDepth = 441.114754; finalDepth = 442.753005; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:442.753005 # Seafloor depth:-482.753005 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 103 # Segment length 62.348219 meters # Minimum depth: 481.114754 meters looking forward 0.000000 meters along route # Maximum depth: 481.114754 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 441.114754 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.049626; longitude = -119.245914; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 440.572747; finalDepth = 441.114754; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:441.114754 # Seafloor depth:-481.114754 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 103 # Segment length 62.348219 meters # Minimum depth: 480.572747 meters looking forward 0.000000 meters along route # Maximum depth: 480.572747 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 440.572747 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.049686; longitude = -119.246044; captureRadius = 10; duration = 62; initialDepth = 435.481489; finalDepth = 440.572747; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:440.572747 # Seafloor depth:-480.572747 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 103 # Segment length 62.348219 meters # Minimum depth: 475.481489 meters looking forward 0.000000 meters along route # Maximum depth: 475.481489 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 435.481489 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.049916; longitude = -119.246544; captureRadius = 10; duration = 62; initialDepth = 429.060105; finalDepth = 435.481489; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:435.481489 # Seafloor depth:-475.481489 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 103 # Segment length 62.348219 meters # Minimum depth: 469.060105 meters looking forward 0.000000 meters along route # Maximum depth: 469.060105 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 429.060105 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.050137; longitude = -119.247024; captureRadius = 10; duration = 62; initialDepth = 426.516688; finalDepth = 429.060105; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:429.060105 # Seafloor depth:-469.060105 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 103 # Segment length 62.348219 meters # Minimum depth: 466.516688 meters looking forward 0.000000 meters along route # Maximum depth: 466.516688 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 426.516688 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.050365; longitude = -119.247519; captureRadius = 10; duration = 62; initialDepth = 426.345810; finalDepth = 426.516688; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:426.516688 # Seafloor depth:-466.516688 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 103 # Segment length 62.348219 meters # Minimum depth: 466.345810 meters looking forward 0.000000 meters along route # Maximum depth: 466.345810 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 426.345810 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.050588; longitude = -119.248003; captureRadius = 10; duration = 62; initialDepth = 417.232302; finalDepth = 426.345810; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:426.34581 # Seafloor depth:-466.345810 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 103 # Segment length 62.348219 meters # Minimum depth: 457.232302 meters looking forward 0.000000 meters along route # Maximum depth: 457.232302 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 417.232302 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.050814; longitude = -119.248494; captureRadius = 10; duration = 62; initialDepth = 401.250686; finalDepth = 417.232302; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:417.232302 # Seafloor depth:-457.232302 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 103 # Segment length 62.348219 meters # Minimum depth: 441.250686 meters looking forward 0.000000 meters along route # Maximum depth: 441.250686 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 401.250686 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.051039; longitude = -119.248982; captureRadius = 10; duration = 62; initialDepth = 395.317999; finalDepth = 401.250686; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:401.250686 # Seafloor depth:-441.250686 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 103 # Segment length 62.348219 meters # Minimum depth: 435.317999 meters looking forward 0.000000 meters along route # Maximum depth: 435.317999 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 395.317999 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.051263; longitude = -119.249469; captureRadius = 10; duration = 62; initialDepth = 395.600822; finalDepth = 395.317999; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:395.317999 # Seafloor depth:-435.317999 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 102 # Segment length 62.348219 meters # Minimum depth: 435.600822 meters looking forward 0.000000 meters along route # Maximum depth: 435.600822 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 395.600822 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.051489; longitude = -119.249961; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 395.282364; finalDepth = 395.600822; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:395.600822 # Seafloor depth:-435.600822 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 102 # Segment length 62.348219 meters # Minimum depth: 435.282364 meters looking forward 0.000000 meters along route # Maximum depth: 435.282364 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 395.282364 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.051580; longitude = -119.249950; captureRadius = 10; duration = 62; initialDepth = 394.910074; finalDepth = 395.282364; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:395.282364 # Seafloor depth:-435.282364 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 102 # Segment length 62.348219 meters # Minimum depth: 434.910074 meters looking forward 0.000000 meters along route # Maximum depth: 434.910074 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 394.910074 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.052030; longitude = -119.249893; captureRadius = 10; duration = 62; initialDepth = 394.244046; finalDepth = 394.910074; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:394.910074 # Seafloor depth:-434.910074 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 102 # Segment length 62.348219 meters # Minimum depth: 434.244046 meters looking forward 0.000000 meters along route # Maximum depth: 434.244046 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 394.244046 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.052481; longitude = -119.249837; captureRadius = 10; duration = 62; initialDepth = 399.541092; finalDepth = 394.244046; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:394.244046 # Seafloor depth:-434.244046 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 102 # Segment length 62.348219 meters # Minimum depth: 439.541092 meters looking forward 0.000000 meters along route # Maximum depth: 439.541092 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 399.541092 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.052932; longitude = -119.249781; captureRadius = 10; duration = 62; initialDepth = 398.788050; finalDepth = 399.541092; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:399.541092 # Seafloor depth:-439.541092 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 102 # Segment length 62.348219 meters # Minimum depth: 438.788050 meters looking forward 0.000000 meters along route # Maximum depth: 438.788050 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 398.788050 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.053383; longitude = -119.249725; captureRadius = 10; duration = 62; initialDepth = 403.105434; finalDepth = 398.788050; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:398.78805 # Seafloor depth:-438.788050 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 102 # Segment length 62.348219 meters # Minimum depth: 443.105434 meters looking forward 0.000000 meters along route # Maximum depth: 443.105434 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 403.105434 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.053834; longitude = -119.249668; captureRadius = 10; duration = 62; initialDepth = 405.474064; finalDepth = 403.105434; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:403.105434 # Seafloor depth:-443.105434 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 102 # Segment length 62.348219 meters # Minimum depth: 445.474064 meters looking forward 0.000000 meters along route # Maximum depth: 445.474064 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 405.474064 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.054285; longitude = -119.249612; captureRadius = 10; duration = 62; initialDepth = 408.519966; finalDepth = 405.474064; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:405.474064 # Seafloor depth:-445.474064 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 102 # Segment length 62.348219 meters # Minimum depth: 448.519966 meters looking forward 0.000000 meters along route # Maximum depth: 448.519966 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 408.519966 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.054736; longitude = -119.249556; captureRadius = 10; duration = 62; initialDepth = 412.474226; finalDepth = 408.519966; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:408.519966 # Seafloor depth:-448.519966 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 102 # Segment length 62.348219 meters # Minimum depth: 452.474226 meters looking forward 0.000000 meters along route # Maximum depth: 452.474226 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 412.474226 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.055186; longitude = -119.249499; captureRadius = 10; duration = 62; initialDepth = 417.909825; finalDepth = 412.474226; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:412.474226 # Seafloor depth:-452.474226 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 102 # Segment length 62.348219 meters # Minimum depth: 457.909825 meters looking forward 0.000000 meters along route # Maximum depth: 457.909825 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 417.909825 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.055637; longitude = -119.249443; captureRadius = 10; duration = 62; initialDepth = 421.154457; finalDepth = 417.909825; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:417.909825 # Seafloor depth:-457.909825 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 101 # Segment length 62.348219 meters # Minimum depth: 461.154457 meters looking forward 0.000000 meters along route # Maximum depth: 461.154457 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 421.154457 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.056118; longitude = -119.249383; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 421.739783; finalDepth = 421.154457; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:421.154457 # Seafloor depth:-461.154457 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 101 # Segment length 62.348219 meters # Minimum depth: 461.739783 meters looking forward 0.000000 meters along route # Maximum depth: 461.739783 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 421.739783 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.056268; longitude = -119.249432; captureRadius = 10; duration = 62; initialDepth = 424.912210; finalDepth = 421.739783; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:421.739783 # Seafloor depth:-461.739783 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 101 # Segment length 62.348219 meters # Minimum depth: 464.912210 meters looking forward 0.000000 meters along route # Maximum depth: 464.912210 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 424.912210 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.056719; longitude = -119.249578; captureRadius = 10; duration = 62; initialDepth = 431.388557; finalDepth = 424.912210; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:424.91221 # Seafloor depth:-464.912210 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 101 # Segment length 62.348219 meters # Minimum depth: 471.388557 meters looking forward 0.000000 meters along route # Maximum depth: 471.388557 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 431.388557 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.057170; longitude = -119.249724; captureRadius = 10; duration = 62; initialDepth = 432.567099; finalDepth = 431.388557; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:431.388557 # Seafloor depth:-471.388557 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 101 # Segment length 62.348219 meters # Minimum depth: 472.567099 meters looking forward 0.000000 meters along route # Maximum depth: 472.567099 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 432.567099 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.057621; longitude = -119.249870; captureRadius = 10; duration = 62; initialDepth = 424.007807; finalDepth = 432.567099; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:432.567099 # Seafloor depth:-472.567099 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 101 # Segment length 62.348219 meters # Minimum depth: 464.007807 meters looking forward 0.000000 meters along route # Maximum depth: 464.007807 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 424.007807 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.058072; longitude = -119.250016; captureRadius = 10; duration = 62; initialDepth = 421.849517; finalDepth = 424.007807; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:424.007807 # Seafloor depth:-464.007807 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 101 # Segment length 62.348219 meters # Minimum depth: 461.849517 meters looking forward 0.000000 meters along route # Maximum depth: 461.849517 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 421.849517 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.058523; longitude = -119.250162; captureRadius = 10; duration = 62; initialDepth = 416.830069; finalDepth = 421.849517; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:421.849517 # Seafloor depth:-461.849517 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 101 # Segment length 62.348219 meters # Minimum depth: 456.830069 meters looking forward 0.000000 meters along route # Maximum depth: 456.830069 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 416.830069 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.058974; longitude = -119.250307; captureRadius = 10; duration = 62; initialDepth = 407.143238; finalDepth = 416.830069; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:416.830069 # Seafloor depth:-456.830069 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 101 # Segment length 62.348219 meters # Minimum depth: 447.143238 meters looking forward 0.000000 meters along route # Maximum depth: 447.143238 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 407.143238 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.059425; longitude = -119.250453; captureRadius = 10; duration = 62; initialDepth = 403.801053; finalDepth = 407.143238; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:407.143238 # Seafloor depth:-447.143238 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 101 # Segment length 62.348219 meters # Minimum depth: 443.801053 meters looking forward 0.000000 meters along route # Maximum depth: 443.801053 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 403.801053 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.059875; longitude = -119.250599; captureRadius = 10; duration = 62; initialDepth = 399.857689; finalDepth = 403.801053; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:403.801053 # Seafloor depth:-443.801053 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 101 # Segment length 62.348219 meters # Minimum depth: 439.857689 meters looking forward 0.000000 meters along route # Maximum depth: 439.857689 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 399.857689 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.060326; longitude = -119.250745; captureRadius = 10; duration = 62; initialDepth = 393.998695; finalDepth = 399.857689; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:399.857689 # Seafloor depth:-439.857689 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 100 # Segment length 62.348219 meters # Minimum depth: 433.998695 meters looking forward 0.000000 meters along route # Maximum depth: 433.998695 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 393.998695 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.060807; longitude = -119.250901; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 395.909008; finalDepth = 393.998695; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:393.998695 # Seafloor depth:-433.998695 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 100 # Segment length 62.348219 meters # Minimum depth: 435.909008 meters looking forward 0.000000 meters along route # Maximum depth: 435.909008 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 395.909008 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.061048; longitude = -119.250628; captureRadius = 10; duration = 62; initialDepth = 394.284358; finalDepth = 395.909008; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:395.909008 # Seafloor depth:-435.909008 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 100 # Segment length 62.348219 meters # Minimum depth: 434.284358 meters looking forward 0.000000 meters along route # Maximum depth: 434.284358 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 394.284358 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.061408; longitude = -119.250218; captureRadius = 10; duration = 62; initialDepth = 393.139581; finalDepth = 394.284358; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:394.284358 # Seafloor depth:-434.284358 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 100 # Segment length 62.348219 meters # Minimum depth: 433.139581 meters looking forward 0.000000 meters along route # Maximum depth: 433.139581 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 393.139581 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.061782; longitude = -119.249794; captureRadius = 10; duration = 62; initialDepth = 392.846624; finalDepth = 393.139581; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:393.139581 # Seafloor depth:-433.139581 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 100 # Segment length 62.348219 meters # Minimum depth: 432.846624 meters looking forward 0.000000 meters along route # Maximum depth: 432.846624 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 392.846624 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.062130; longitude = -119.249400; captureRadius = 10; duration = 62; initialDepth = 394.844646; finalDepth = 392.846624; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:392.846624 # Seafloor depth:-432.846624 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 100 # Segment length 62.348219 meters # Minimum depth: 434.844646 meters looking forward 0.000000 meters along route # Maximum depth: 434.844646 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 394.844646 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.062490; longitude = -119.248990; captureRadius = 10; duration = 62; initialDepth = 394.665596; finalDepth = 394.844646; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:394.844646 # Seafloor depth:-434.844646 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 100 # Segment length 62.348219 meters # Minimum depth: 434.665596 meters looking forward 0.000000 meters along route # Maximum depth: 434.665596 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 394.665596 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.062851; longitude = -119.248581; captureRadius = 10; duration = 62; initialDepth = 395.344116; finalDepth = 394.665596; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:394.665596 # Seafloor depth:-434.665596 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 99 # Segment length 62.348219 meters # Minimum depth: 435.344116 meters looking forward 0.000000 meters along route # Maximum depth: 435.344116 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 395.344116 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.063182; longitude = -119.248205; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 395.556491; finalDepth = 395.344116; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:395.344116 # Seafloor depth:-435.344116 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 99 # Segment length 62.348219 meters # Minimum depth: 435.556491 meters looking forward 0.000000 meters along route # Maximum depth: 435.556491 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 395.556491 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.063186; longitude = -119.248169; captureRadius = 10; duration = 62; initialDepth = 397.123851; finalDepth = 395.556491; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:395.556491 # Seafloor depth:-435.556491 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 99 # Segment length 62.348219 meters # Minimum depth: 437.123851 meters looking forward 0.000000 meters along route # Maximum depth: 437.123851 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 397.123851 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.063248; longitude = -119.247628; captureRadius = 10; duration = 62; initialDepth = 398.713387; finalDepth = 397.123851; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:397.123851 # Seafloor depth:-437.123851 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 99 # Segment length 62.348219 meters # Minimum depth: 438.713387 meters looking forward 0.000000 meters along route # Maximum depth: 438.713387 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 398.713387 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.063311; longitude = -119.247086; captureRadius = 10; duration = 62; initialDepth = 394.066066; finalDepth = 398.713387; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:398.713387 # Seafloor depth:-438.713387 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 99 # Segment length 62.348219 meters # Minimum depth: 434.066066 meters looking forward 0.000000 meters along route # Maximum depth: 434.066066 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 394.066066 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.063374; longitude = -119.246544; captureRadius = 10; duration = 62; initialDepth = 405.809483; finalDepth = 394.066066; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:394.066066 # Seafloor depth:-434.066066 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 99 # Segment length 62.348219 meters # Minimum depth: 445.809483 meters looking forward 0.000000 meters along route # Maximum depth: 445.809483 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 405.809483 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.063436; longitude = -119.246003; captureRadius = 10; duration = 62; initialDepth = 408.619980; finalDepth = 405.809483; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:405.809483 # Seafloor depth:-445.809483 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 99 # Segment length 62.348219 meters # Minimum depth: 448.619980 meters looking forward 0.000000 meters along route # Maximum depth: 448.619980 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 408.619980 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.063499; longitude = -119.245461; captureRadius = 10; duration = 62; initialDepth = 406.487058; finalDepth = 408.619980; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:408.61998 # Seafloor depth:-448.619980 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 99 # Segment length 62.348219 meters # Minimum depth: 446.487058 meters looking forward 0.000000 meters along route # Maximum depth: 446.487058 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 406.487058 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.063562; longitude = -119.244919; captureRadius = 10; duration = 62; initialDepth = 407.247233; finalDepth = 406.487058; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:406.487058 # Seafloor depth:-446.487058 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 98 # Segment length 62.348219 meters # Minimum depth: 447.247233 meters looking forward 0.000000 meters along route # Maximum depth: 447.247233 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 407.247233 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.063633; longitude = -119.244305; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 410.094708; finalDepth = 407.247233; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:407.247233 # Seafloor depth:-447.247233 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 98 # Segment length 62.348219 meters # Minimum depth: 456.311492 meters looking forward 0.000000 meters along route # Maximum depth: 456.311492 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 410.094708 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.063674; longitude = -119.244269; captureRadius = 10; duration = 62; initialDepth = 414.845167; finalDepth = 410.094708; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.2167840000013 # Actual altitude: 50 # Commanded vehicle depth:410.094707999999 # Seafloor depth:-456.311492 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 98 # Segment length 62.348219 meters # Minimum depth: 454.845167 meters looking forward 0.000000 meters along route # Maximum depth: 454.845167 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 414.845167 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.064049; longitude = -119.243944; captureRadius = 10; duration = 62; initialDepth = 388.867531; finalDepth = 414.845167; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.2167840000013 # Actual altitude: 50 # Commanded vehicle depth:414.845167 # Seafloor depth:-454.845167 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 98 # Segment length 62.348219 meters # Minimum depth: 428.867531 meters looking forward 0.000000 meters along route # Maximum depth: 428.867531 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 388.867531 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.064423; longitude = -119.243619; captureRadius = 10; duration = 62; initialDepth = 383.462295; finalDepth = 388.867531; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:388.867531 # Seafloor depth:-428.867531 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 98 # Segment length 62.348219 meters # Minimum depth: 423.462295 meters looking forward 0.000000 meters along route # Maximum depth: 423.462295 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 383.462295 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.064835; longitude = -119.243262; captureRadius = 10; duration = 62; initialDepth = 383.160075; finalDepth = 383.462295; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:383.462295 # Seafloor depth:-423.462295 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 97 # Segment length 62.348219 meters # Minimum depth: 423.160075 meters looking forward 0.000000 meters along route # Maximum depth: 423.160075 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 383.160075 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.065256; longitude = -119.242897; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 381.363556; finalDepth = 383.160075; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:383.160075 # Seafloor depth:-423.160075 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 97 # Segment length 62.348219 meters # Minimum depth: 421.363556 meters looking forward 0.000000 meters along route # Maximum depth: 421.363556 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 381.363556 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.065646; longitude = -119.242852; captureRadius = 10; duration = 62; initialDepth = 381.415854; finalDepth = 381.363556; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:381.363556 # Seafloor depth:-421.363556 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 97 # Segment length 62.348219 meters # Minimum depth: 421.415854 meters looking forward 0.000000 meters along route # Maximum depth: 421.415854 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 381.415854 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.066097; longitude = -119.242799; captureRadius = 10; duration = 62; initialDepth = 382.123522; finalDepth = 381.415854; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:381.415854 # Seafloor depth:-421.415854 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 97 # Segment length 62.348219 meters # Minimum depth: 422.123522 meters looking forward 0.000000 meters along route # Maximum depth: 422.123522 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 382.123522 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.066548; longitude = -119.242747; captureRadius = 10; duration = 62; initialDepth = 383.446279; finalDepth = 382.123522; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:382.123522 # Seafloor depth:-422.123522 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 97 # Segment length 62.348219 meters # Minimum depth: 423.446279 meters looking forward 0.000000 meters along route # Maximum depth: 423.446279 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 383.446279 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.066999; longitude = -119.242695; captureRadius = 10; duration = 62; initialDepth = 379.118588; finalDepth = 383.446279; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:383.446279 # Seafloor depth:-423.446279 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 97 # Segment length 62.348219 meters # Minimum depth: 419.118588 meters looking forward 0.000000 meters along route # Maximum depth: 419.118588 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 379.118588 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.067450; longitude = -119.242642; captureRadius = 10; duration = 62; initialDepth = 380.517143; finalDepth = 379.118588; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:379.118588 # Seafloor depth:-419.118588 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 96 # Segment length 62.348219 meters # Minimum depth: 420.517143 meters looking forward 0.000000 meters along route # Maximum depth: 420.517143 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 380.517143 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.067900; longitude = -119.242590; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 383.443462; finalDepth = 380.517143; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:380.517143 # Seafloor depth:-420.517143 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 96 # Segment length 62.348219 meters # Minimum depth: 423.443462 meters looking forward 0.000000 meters along route # Maximum depth: 423.443462 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 383.443462 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.067758; longitude = -119.243078; captureRadius = 10; duration = 62; initialDepth = 384.873844; finalDepth = 383.443462; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:383.443462 # Seafloor depth:-423.443462 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 96 # Segment length 62.348219 meters # Minimum depth: 424.873844 meters looking forward 0.000000 meters along route # Maximum depth: 424.873844 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 384.873844 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.067599; longitude = -119.243619; captureRadius = 10; duration = 62; initialDepth = 398.347591; finalDepth = 384.873844; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:384.873844 # Seafloor depth:-424.873844 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 96 # Segment length 62.348219 meters # Minimum depth: 438.347591 meters looking forward 0.000000 meters along route # Maximum depth: 438.347591 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 398.347591 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.067441; longitude = -119.244161; captureRadius = 10; duration = 62; initialDepth = 399.550484; finalDepth = 398.347591; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:398.347591 # Seafloor depth:-438.347591 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 96 # Segment length 62.348219 meters # Minimum depth: 439.550484 meters looking forward 0.000000 meters along route # Maximum depth: 439.550484 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 399.550484 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.067269; longitude = -119.244749; captureRadius = 10; duration = 62; initialDepth = 398.510818; finalDepth = 399.550484; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:399.550484 # Seafloor depth:-439.550484 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 95 # Segment length 62.348219 meters # Minimum depth: 438.510818 meters looking forward 0.000000 meters along route # Maximum depth: 438.510818 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 398.510818 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.067119; longitude = -119.245264; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 398.562770; finalDepth = 398.510818; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:398.510818 # Seafloor depth:-438.510818 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 95 # Segment length 62.348219 meters # Minimum depth: 438.562770 meters looking forward 0.000000 meters along route # Maximum depth: 438.562770 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 398.562770 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.067089; longitude = -119.245273; captureRadius = 10; duration = 62; initialDepth = 398.133046; finalDepth = 398.562770; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:398.56277 # Seafloor depth:-438.562770 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 95 # Segment length 62.348219 meters # Minimum depth: 438.133046 meters looking forward 0.000000 meters along route # Maximum depth: 438.133046 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 398.133046 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.066638; longitude = -119.245409; captureRadius = 10; duration = 62; initialDepth = 396.856858; finalDepth = 398.133046; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:398.133046 # Seafloor depth:-438.133046 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 95 # Segment length 62.348219 meters # Minimum depth: 436.856858 meters looking forward 0.000000 meters along route # Maximum depth: 436.856858 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 396.856858 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.066187; longitude = -119.245544; captureRadius = 10; duration = 62; initialDepth = 395.477299; finalDepth = 396.856858; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:396.856858 # Seafloor depth:-436.856858 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 95 # Segment length 62.348219 meters # Minimum depth: 435.477299 meters looking forward 0.000000 meters along route # Maximum depth: 435.477299 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 395.477299 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.065737; longitude = -119.245680; captureRadius = 10; duration = 62; initialDepth = 396.912354; finalDepth = 395.477299; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:395.477299 # Seafloor depth:-435.477299 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 95 # Segment length 62.348219 meters # Minimum depth: 436.912354 meters looking forward 0.000000 meters along route # Maximum depth: 436.912354 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 396.912354 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.065286; longitude = -119.245815; captureRadius = 10; duration = 62; initialDepth = 397.260683; finalDepth = 396.912354; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:396.912354 # Seafloor depth:-436.912354 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 95 # Segment length 62.348219 meters # Minimum depth: 437.260683 meters looking forward 0.000000 meters along route # Maximum depth: 437.260683 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 397.260683 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.064835; longitude = -119.245951; captureRadius = 10; duration = 62; initialDepth = 396.628470; finalDepth = 397.260683; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:397.260683 # Seafloor depth:-437.260683 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 95 # Segment length 62.348219 meters # Minimum depth: 436.628470 meters looking forward 0.000000 meters along route # Maximum depth: 436.628470 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 396.628470 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.064384; longitude = -119.246086; captureRadius = 10; duration = 62; initialDepth = 395.865697; finalDepth = 396.628470; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:396.62847 # Seafloor depth:-436.628470 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 95 # Segment length 62.348219 meters # Minimum depth: 435.865697 meters looking forward 0.000000 meters along route # Maximum depth: 435.865697 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 395.865697 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.063933; longitude = -119.246222; captureRadius = 10; duration = 62; initialDepth = 396.593745; finalDepth = 395.865697; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:395.865697 # Seafloor depth:-435.865697 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 95 # Segment length 62.348219 meters # Minimum depth: 436.593745 meters looking forward 0.000000 meters along route # Maximum depth: 436.593745 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 396.593745 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.063482; longitude = -119.246357; captureRadius = 10; duration = 62; initialDepth = 398.019196; finalDepth = 396.593745; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:396.593745 # Seafloor depth:-436.593745 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 94 # Segment length 62.348219 meters # Minimum depth: 438.019196 meters looking forward 0.000000 meters along route # Maximum depth: 438.019196 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 398.019196 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.063031; longitude = -119.246493; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 392.524681; finalDepth = 398.019196; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:398.019196 # Seafloor depth:-438.019196 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 94 # Segment length 62.348219 meters # Minimum depth: 432.524681 meters looking forward 0.000000 meters along route # Maximum depth: 432.524681 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 392.524681 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.062761; longitude = -119.246818; captureRadius = 10; duration = 62; initialDepth = 389.858432; finalDepth = 392.524681; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:392.524681 # Seafloor depth:-432.524681 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 94 # Segment length 62.348219 meters # Minimum depth: 429.858432 meters looking forward 0.000000 meters along route # Maximum depth: 429.858432 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 389.858432 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.062400; longitude = -119.247251; captureRadius = 10; duration = 62; initialDepth = 390.951296; finalDepth = 389.858432; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:389.858432 # Seafloor depth:-429.858432 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 94 # Segment length 62.348219 meters # Minimum depth: 430.951296 meters looking forward 0.000000 meters along route # Maximum depth: 430.951296 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 390.951296 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.062040; longitude = -119.247685; captureRadius = 10; duration = 62; initialDepth = 400.521395; finalDepth = 390.951296; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:390.951296 # Seafloor depth:-430.951296 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 94 # Segment length 62.348219 meters # Minimum depth: 440.521395 meters looking forward 0.000000 meters along route # Maximum depth: 440.521395 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 400.521395 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.061679; longitude = -119.248118; captureRadius = 10; duration = 62; initialDepth = 401.906324; finalDepth = 400.521395; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:400.521395 # Seafloor depth:-440.521395 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 94 # Segment length 62.348219 meters # Minimum depth: 441.906324 meters looking forward 0.000000 meters along route # Maximum depth: 441.906324 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 401.906324 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.061318; longitude = -119.248552; captureRadius = 10; duration = 62; initialDepth = 402.122185; finalDepth = 401.906324; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:401.906324 # Seafloor depth:-441.906324 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 93 # Segment length 62.348219 meters # Minimum depth: 442.122185 meters looking forward 0.000000 meters along route # Maximum depth: 442.122185 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 402.122185 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.060987; longitude = -119.248950; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 403.177228; finalDepth = 402.122185; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:402.122185 # Seafloor depth:-442.122185 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 93 # Segment length 62.348219 meters # Minimum depth: 443.177228 meters looking forward 0.000000 meters along route # Maximum depth: 443.177228 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 403.177228 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.060777; longitude = -119.249163; captureRadius = 10; duration = 62; initialDepth = 403.686346; finalDepth = 403.177228; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:403.177228 # Seafloor depth:-443.177228 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 93 # Segment length 62.348219 meters # Minimum depth: 443.686346 meters looking forward 0.000000 meters along route # Maximum depth: 443.686346 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 403.686346 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.060416; longitude = -119.249530; captureRadius = 10; duration = 62; initialDepth = 404.455625; finalDepth = 403.686346; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:403.686346 # Seafloor depth:-443.686346 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 93 # Segment length 62.348219 meters # Minimum depth: 444.455625 meters looking forward 0.000000 meters along route # Maximum depth: 444.455625 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 404.455625 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.060050; longitude = -119.249903; captureRadius = 10; duration = 62; initialDepth = 406.131215; finalDepth = 404.455625; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:404.455625 # Seafloor depth:-444.455625 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 93 # Segment length 62.348219 meters # Minimum depth: 446.131215 meters looking forward 0.000000 meters along route # Maximum depth: 446.131215 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 406.131215 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.059695; longitude = -119.250264; captureRadius = 10; duration = 62; initialDepth = 407.787217; finalDepth = 406.131215; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:406.131215 # Seafloor depth:-446.131215 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 93 # Segment length 62.348219 meters # Minimum depth: 447.787217 meters looking forward 0.000000 meters along route # Maximum depth: 447.787217 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 407.787217 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.059304; longitude = -119.250661; captureRadius = 10; duration = 62; initialDepth = 407.817818; finalDepth = 407.787217; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:407.787217 # Seafloor depth:-447.787217 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 92 # Segment length 62.348219 meters # Minimum depth: 447.817818 meters looking forward 0.000000 meters along route # Maximum depth: 447.817818 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 407.817818 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.058914; longitude = -119.251058; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 408.908034; finalDepth = 407.817818; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:407.817818 # Seafloor depth:-447.817818 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 92 # Segment length 62.348219 meters # Minimum depth: 448.908034 meters looking forward 0.000000 meters along route # Maximum depth: 448.908034 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 408.908034 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.058604; longitude = -119.251203; captureRadius = 10; duration = 62; initialDepth = 410.729343; finalDepth = 408.908034; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:408.908034 # Seafloor depth:-448.908034 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 92 # Segment length 62.348219 meters # Minimum depth: 450.729343 meters looking forward 0.000000 meters along route # Maximum depth: 450.729343 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 410.729343 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.058140; longitude = -119.251419; captureRadius = 10; duration = 62; initialDepth = 416.035694; finalDepth = 410.729343; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:410.729343 # Seafloor depth:-450.729343 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 92 # Segment length 62.348219 meters # Minimum depth: 456.035694 meters looking forward 0.000000 meters along route # Maximum depth: 456.035694 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 416.035694 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.057711; longitude = -119.251619; captureRadius = 10; duration = 62; initialDepth = 424.515121; finalDepth = 416.035694; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:416.035694 # Seafloor depth:-456.035694 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 91 # Segment length 62.348219 meters # Minimum depth: 464.515121 meters looking forward 0.000000 meters along route # Maximum depth: 464.515121 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 424.515121 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.057290; longitude = -119.251816; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 423.569890; finalDepth = 424.515121; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:424.515121 # Seafloor depth:-464.515121 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 91 # Segment length 62.348219 meters # Minimum depth: 463.569890 meters looking forward 0.000000 meters along route # Maximum depth: 463.569890 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 423.569890 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.057260; longitude = -119.251801; captureRadius = 10; duration = 62; initialDepth = 431.927186; finalDepth = 423.569890; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:423.56989 # Seafloor depth:-463.569890 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 91 # Segment length 62.348219 meters # Minimum depth: 471.927186 meters looking forward 0.000000 meters along route # Maximum depth: 471.927186 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 431.927186 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.056810; longitude = -119.251575; captureRadius = 10; duration = 62; initialDepth = 434.651494; finalDepth = 431.927186; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:431.927186 # Seafloor depth:-471.927186 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 91 # Segment length 62.348219 meters # Minimum depth: 474.651494 meters looking forward 0.000000 meters along route # Maximum depth: 474.651494 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 434.651494 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.056359; longitude = -119.251348; captureRadius = 10; duration = 62; initialDepth = 436.900328; finalDepth = 434.651494; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:434.651494 # Seafloor depth:-474.651494 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 91 # Segment length 62.348219 meters # Minimum depth: 476.900328 meters looking forward 0.000000 meters along route # Maximum depth: 476.900328 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 436.900328 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.055908; longitude = -119.251122; captureRadius = 10; duration = 62; initialDepth = 436.772054; finalDepth = 436.900328; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:436.900328 # Seafloor depth:-476.900328 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 91 # Segment length 62.348219 meters # Minimum depth: 476.772054 meters looking forward 0.000000 meters along route # Maximum depth: 476.772054 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 436.772054 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.055457; longitude = -119.250895; captureRadius = 10; duration = 62; initialDepth = 424.176949; finalDepth = 436.772054; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:436.772054 # Seafloor depth:-476.772054 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 90 # Segment length 62.348219 meters # Minimum depth: 464.176949 meters looking forward 0.000000 meters along route # Maximum depth: 464.176949 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 424.176949 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.055036; longitude = -119.250684; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 422.770115; finalDepth = 424.176949; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:424.176949 # Seafloor depth:-464.176949 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 90 # Segment length 62.348219 meters # Minimum depth: 462.770115 meters looking forward 0.000000 meters along route # Maximum depth: 462.770115 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 422.770115 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.054916; longitude = -119.250713; captureRadius = 10; duration = 62; initialDepth = 420.804072; finalDepth = 422.770115; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:422.770115 # Seafloor depth:-462.770115 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 90 # Segment length 62.348219 meters # Minimum depth: 460.804072 meters looking forward 0.000000 meters along route # Maximum depth: 460.804072 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 420.804072 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.054465; longitude = -119.250822; captureRadius = 10; duration = 62; initialDepth = 420.581977; finalDepth = 420.804072; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:420.804072 # Seafloor depth:-460.804072 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 90 # Segment length 62.348219 meters # Minimum depth: 460.581977 meters looking forward 0.000000 meters along route # Maximum depth: 460.581977 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 420.581977 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.054014; longitude = -119.250931; captureRadius = 10; duration = 62; initialDepth = 417.404875; finalDepth = 420.581977; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:420.581977 # Seafloor depth:-460.581977 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 90 # Segment length 62.348219 meters # Minimum depth: 457.404875 meters looking forward 0.000000 meters along route # Maximum depth: 457.404875 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 417.404875 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.053563; longitude = -119.251040; captureRadius = 10; duration = 62; initialDepth = 423.659119; finalDepth = 417.404875; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:417.404875 # Seafloor depth:-457.404875 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 90 # Segment length 62.348219 meters # Minimum depth: 463.659119 meters looking forward 0.000000 meters along route # Maximum depth: 463.659119 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 423.659119 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.053112; longitude = -119.251149; captureRadius = 10; duration = 62; initialDepth = 414.596574; finalDepth = 423.659119; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:423.659119 # Seafloor depth:-463.659119 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 90 # Segment length 62.348219 meters # Minimum depth: 454.596574 meters looking forward 0.000000 meters along route # Maximum depth: 454.596574 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 414.596574 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.052662; longitude = -119.251258; captureRadius = 10; duration = 62; initialDepth = 425.968449; finalDepth = 414.596574; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:414.596574 # Seafloor depth:-454.596574 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 90 # Segment length 62.348219 meters # Minimum depth: 465.968449 meters looking forward 0.000000 meters along route # Maximum depth: 465.968449 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 425.968449 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.052211; longitude = -119.251367; captureRadius = 10; duration = 62; initialDepth = 429.351918; finalDepth = 425.968449; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:425.968449 # Seafloor depth:-465.968449 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 90 # Segment length 62.348219 meters # Minimum depth: 469.351918 meters looking forward 0.000000 meters along route # Maximum depth: 469.351918 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 429.351918 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.051760; longitude = -119.251476; captureRadius = 10; duration = 62; initialDepth = 431.404160; finalDepth = 429.351918; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:429.351918 # Seafloor depth:-469.351918 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 89 # Segment length 62.348219 meters # Minimum depth: 471.404160 meters looking forward 0.000000 meters along route # Maximum depth: 471.404160 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 431.404160 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.051249; longitude = -119.251600; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 431.295472; finalDepth = 431.404160; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:431.40416 # Seafloor depth:-471.404160 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 62.348219 meters # Minimum depth: 471.295472 meters looking forward 0.000000 meters along route # Maximum depth: 471.295472 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 431.295472 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.051129; longitude = -119.251510; captureRadius = 10; duration = 62; initialDepth = 430.763424; finalDepth = 431.295472; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:431.295472 # Seafloor depth:-471.295472 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 62.348219 meters # Minimum depth: 470.763424 meters looking forward 0.000000 meters along route # Maximum depth: 470.763424 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 430.763424 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.050678; longitude = -119.251175; captureRadius = 10; duration = 62; initialDepth = 434.397119; finalDepth = 430.763424; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:430.763424 # Seafloor depth:-470.763424 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 62.348219 meters # Minimum depth: 474.397119 meters looking forward 0.000000 meters along route # Maximum depth: 474.397119 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 434.397119 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.050227; longitude = -119.250840; captureRadius = 10; duration = 62; initialDepth = 436.628509; finalDepth = 434.397119; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:434.397119 # Seafloor depth:-474.397119 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 62.348219 meters # Minimum depth: 476.628509 meters looking forward 0.000000 meters along route # Maximum depth: 476.628509 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 436.628509 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.049776; longitude = -119.250504; captureRadius = 10; duration = 62; initialDepth = 437.079948; finalDepth = 436.628509; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:436.628509 # Seafloor depth:-476.628509 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 88 # Segment length 62.348219 meters # Minimum depth: 477.079948 meters looking forward 0.000000 meters along route # Maximum depth: 477.079948 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 437.079948 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.049355; longitude = -119.250191; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 436.644334; finalDepth = 437.079948; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:437.079948 # Seafloor depth:-477.079948 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 88 # Segment length 62.348219 meters # Minimum depth: 476.644334 meters looking forward 0.000000 meters along route # Maximum depth: 476.644334 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 436.644334 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.049325; longitude = -119.250104; captureRadius = 10; duration = 62; initialDepth = 437.256895; finalDepth = 436.644334; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:436.644334 # Seafloor depth:-476.644334 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 88 # Segment length 62.348219 meters # Minimum depth: 477.256895 meters looking forward 0.000000 meters along route # Maximum depth: 477.256895 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 437.256895 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.049145; longitude = -119.249575; captureRadius = 10; duration = 62; initialDepth = 435.606499; finalDepth = 437.256895; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:437.256895 # Seafloor depth:-477.256895 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 88 # Segment length 62.348219 meters # Minimum depth: 475.606499 meters looking forward 0.000000 meters along route # Maximum depth: 475.606499 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 435.606499 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.048961; longitude = -119.249036; captureRadius = 10; duration = 62; initialDepth = 436.356522; finalDepth = 435.606499; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:435.606499 # Seafloor depth:-475.606499 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 88 # Segment length 62.348219 meters # Minimum depth: 476.356522 meters looking forward 0.000000 meters along route # Maximum depth: 476.356522 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 436.356522 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.048776; longitude = -119.248494; captureRadius = 10; duration = 62; initialDepth = 442.073424; finalDepth = 436.356522; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:436.356522 # Seafloor depth:-476.356522 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 88 # Segment length 62.348219 meters # Minimum depth: 482.073424 meters looking forward 0.000000 meters along route # Maximum depth: 482.073424 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 442.073424 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.048592; longitude = -119.247953; captureRadius = 10; duration = 62; initialDepth = 445.974610; finalDepth = 442.073424; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:442.073424 # Seafloor depth:-482.073424 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 88 # Segment length 62.348219 meters # Minimum depth: 485.974610 meters looking forward 0.000000 meters along route # Maximum depth: 485.974610 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 445.974610 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.048407; longitude = -119.247411; captureRadius = 10; duration = 62; initialDepth = 468.943688; finalDepth = 445.974610; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:445.97461 # Seafloor depth:-485.974610 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 88 # Segment length 62.348219 meters # Minimum depth: 508.943688 meters looking forward 0.000000 meters along route # Maximum depth: 508.943688 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 468.943688 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.048222; longitude = -119.246869; captureRadius = 10; duration = 62; initialDepth = 469.086946; finalDepth = 468.943688; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:468.943688 # Seafloor depth:-508.943688 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 88 # Segment length 62.348219 meters # Minimum depth: 509.086946 meters looking forward 0.000000 meters along route # Maximum depth: 509.086946 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 469.086946 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.048038; longitude = -119.246328; captureRadius = 10; duration = 62; initialDepth = 464.190261; finalDepth = 469.086946; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:469.086946 # Seafloor depth:-509.086946 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 88 # Segment length 62.348219 meters # Minimum depth: 504.190261 meters looking forward 0.000000 meters along route # Maximum depth: 504.190261 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 464.190261 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.047853; longitude = -119.245786; captureRadius = 10; duration = 62; initialDepth = 461.952999; finalDepth = 464.190261; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:464.190261 # Seafloor depth:-504.190261 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 88 # Segment length 62.348219 meters # Minimum depth: 501.952999 meters looking forward 0.000000 meters along route # Maximum depth: 501.952999 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 461.952999 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.047668; longitude = -119.245244; captureRadius = 10; duration = 62; initialDepth = 457.079819; finalDepth = 461.952999; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:461.952999 # Seafloor depth:-501.952999 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 88 # Segment length 62.348219 meters # Minimum depth: 497.079819 meters looking forward 0.000000 meters along route # Maximum depth: 497.079819 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 457.079819 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.047483; longitude = -119.244703; captureRadius = 10; duration = 62; initialDepth = 458.403015; finalDepth = 457.079819; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:457.079819 # Seafloor depth:-497.079819 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 87 # Segment length 62.348219 meters # Minimum depth: 498.403015 meters looking forward 0.000000 meters along route # Maximum depth: 498.403015 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 458.403015 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.047311; longitude = -119.244197; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 452.941536; finalDepth = 458.403015; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:458.403015 # Seafloor depth:-498.403015 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 62.348219 meters # Minimum depth: 492.941536 meters looking forward 0.000000 meters along route # Maximum depth: 492.941536 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 452.941536 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.047161; longitude = -119.244023; captureRadius = 10; duration = 62; initialDepth = 453.517046; finalDepth = 452.941536; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:452.941536 # Seafloor depth:-492.941536 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 62.348219 meters # Minimum depth: 493.517046 meters looking forward 0.000000 meters along route # Maximum depth: 493.517046 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 453.517046 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.046800; longitude = -119.243603; captureRadius = 10; duration = 62; initialDepth = 454.145861; finalDepth = 453.517046; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:453.517046 # Seafloor depth:-493.517046 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 62.348219 meters # Minimum depth: 494.145861 meters looking forward 0.000000 meters along route # Maximum depth: 494.145861 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 454.145861 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.046440; longitude = -119.243184; captureRadius = 10; duration = 62; initialDepth = 455.007371; finalDepth = 454.145861; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:454.145861 # Seafloor depth:-494.145861 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 62.348219 meters # Minimum depth: 495.007371 meters looking forward 0.000000 meters along route # Maximum depth: 495.007371 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 455.007371 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.046069; longitude = -119.242753; captureRadius = 10; duration = 62; initialDepth = 455.729357; finalDepth = 455.007371; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:455.007371 # Seafloor depth:-495.007371 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 62.348219 meters # Minimum depth: 495.729357 meters looking forward 0.000000 meters along route # Maximum depth: 495.729357 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 455.729357 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.045696; longitude = -119.242319; captureRadius = 10; duration = 62; initialDepth = 457.430456; finalDepth = 455.729357; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:455.729357 # Seafloor depth:-495.729357 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 62.348219 meters # Minimum depth: 497.430456 meters looking forward 0.000000 meters along route # Maximum depth: 497.430456 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 457.430456 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.045324; longitude = -119.241886; captureRadius = 10; duration = 62; initialDepth = 459.265671; finalDepth = 457.430456; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:457.430456 # Seafloor depth:-497.430456 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 86 # Segment length 62.348219 meters # Minimum depth: 499.265671 meters looking forward 0.000000 meters along route # Maximum depth: 499.265671 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 459.265671 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.044997; longitude = -119.241506; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 461.041838; finalDepth = 459.265671; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:459.265671 # Seafloor depth:-499.265671 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 86 # Segment length 62.348219 meters # Minimum depth: 501.041838 meters looking forward 0.000000 meters along route # Maximum depth: 501.041838 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 461.041838 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.044636; longitude = -119.241223; captureRadius = 10; duration = 62; initialDepth = 462.652008; finalDepth = 461.041838; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:461.041838 # Seafloor depth:-501.041838 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 86 # Segment length 62.348219 meters # Minimum depth: 502.652008 meters looking forward 0.000000 meters along route # Maximum depth: 502.652008 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 462.652008 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.044238; longitude = -119.240911; captureRadius = 10; duration = 62; initialDepth = 464.545253; finalDepth = 462.652008; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:462.652008 # Seafloor depth:-502.652008 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 86 # Segment length 62.348219 meters # Minimum depth: 504.545253 meters looking forward 0.000000 meters along route # Maximum depth: 504.545253 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 464.545253 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.043824; longitude = -119.240586; captureRadius = 10; duration = 62; initialDepth = 467.461865; finalDepth = 464.545253; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:464.545253 # Seafloor depth:-504.545253 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 86 # Segment length 62.348219 meters # Minimum depth: 507.461865 meters looking forward 0.000000 meters along route # Maximum depth: 507.461865 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 467.461865 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.043374; longitude = -119.240233; captureRadius = 10; duration = 62; initialDepth = 468.646472; finalDepth = 467.461865; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:467.461865 # Seafloor depth:-507.461865 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 86 # Segment length 62.348219 meters # Minimum depth: 508.646472 meters looking forward 0.000000 meters along route # Maximum depth: 508.646472 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 468.646472 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.042994; longitude = -119.239936; captureRadius = 10; duration = 62; initialDepth = 469.952903; finalDepth = 468.646472; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:468.646472 # Seafloor depth:-508.646472 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 86 # Segment length 62.348219 meters # Minimum depth: 509.952903 meters looking forward 0.000000 meters along route # Maximum depth: 509.952903 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 469.952903 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.042562; longitude = -119.239597; captureRadius = 10; duration = 62; initialDepth = 471.462001; finalDepth = 469.952903; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:469.952903 # Seafloor depth:-509.952903 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 86 # Segment length 62.348219 meters # Minimum depth: 511.462001 meters looking forward 0.000000 meters along route # Maximum depth: 511.462001 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 471.462001 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.042165; longitude = -119.239286; captureRadius = 10; duration = 62; initialDepth = 472.975226; finalDepth = 471.462001; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:471.462001 # Seafloor depth:-511.462001 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 86 # Segment length 62.348219 meters # Minimum depth: 512.975226 meters looking forward 0.000000 meters along route # Maximum depth: 512.975226 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 472.975226 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.041751; longitude = -119.238961; captureRadius = 10; duration = 62; initialDepth = 474.028614; finalDepth = 472.975226; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:472.975226 # Seafloor depth:-512.975226 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 86 # Segment length 62.348219 meters # Minimum depth: 514.028614 meters looking forward 0.000000 meters along route # Maximum depth: 514.028614 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 474.028614 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.041300; longitude = -119.238608; captureRadius = 10; duration = 62; initialDepth = 475.210660; finalDepth = 474.028614; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:474.028614 # Seafloor depth:-514.028614 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 86 # Segment length 62.348219 meters # Minimum depth: 515.210660 meters looking forward 0.000000 meters along route # Maximum depth: 515.210660 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 475.210660 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.040922; longitude = -119.238311; captureRadius = 10; duration = 62; initialDepth = 476.261524; finalDepth = 475.210660; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:475.21066 # Seafloor depth:-515.210660 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 86 # Segment length 62.348219 meters # Minimum depth: 516.261524 meters looking forward 0.000000 meters along route # Maximum depth: 516.261524 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 476.261524 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.040488; longitude = -119.237971; captureRadius = 10; duration = 62; initialDepth = 477.745087; finalDepth = 476.261524; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:476.261524 # Seafloor depth:-516.261524 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 86 # Segment length 62.348219 meters # Minimum depth: 517.745087 meters looking forward 0.000000 meters along route # Maximum depth: 517.745087 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 477.745087 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.040093; longitude = -119.237661; captureRadius = 10; duration = 62; initialDepth = 479.851616; finalDepth = 477.745087; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:477.745087 # Seafloor depth:-517.745087 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 86 # Segment length 62.348219 meters # Minimum depth: 519.851616 meters looking forward 0.000000 meters along route # Maximum depth: 519.851616 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 479.851616 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.039677; longitude = -119.237335; captureRadius = 10; duration = 62; initialDepth = 480.739261; finalDepth = 479.851616; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:479.851616 # Seafloor depth:-519.851616 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 86 # Segment length 62.348219 meters # Minimum depth: 520.739261 meters looking forward 0.000000 meters along route # Maximum depth: 520.739261 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 480.739261 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.039264; longitude = -119.237011; captureRadius = 10; duration = 62; initialDepth = 480.777288; finalDepth = 480.739261; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:480.739261 # Seafloor depth:-520.739261 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 86 # Segment length 62.348219 meters # Minimum depth: 520.777288 meters looking forward 0.000000 meters along route # Maximum depth: 520.777288 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 480.777288 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.038849; longitude = -119.236686; captureRadius = 10; duration = 62; initialDepth = 480.692440; finalDepth = 480.777288; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:480.777288 # Seafloor depth:-520.777288 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 86 # Segment length 62.348219 meters # Minimum depth: 520.692440 meters looking forward 0.000000 meters along route # Maximum depth: 520.692440 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 480.692440 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.038414; longitude = -119.236345; captureRadius = 10; duration = 62; initialDepth = 483.799573; finalDepth = 480.692440; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:480.69244 # Seafloor depth:-520.692440 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 86 # Segment length 62.348219 meters # Minimum depth: 523.799573 meters looking forward 0.000000 meters along route # Maximum depth: 523.799573 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 483.799573 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.038020; longitude = -119.236036; captureRadius = 10; duration = 62; initialDepth = 481.187915; finalDepth = 483.799573; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:483.799573 # Seafloor depth:-523.799573 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 86 # Segment length 62.348219 meters # Minimum depth: 521.187915 meters looking forward 0.000000 meters along route # Maximum depth: 521.187915 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 481.187915 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.037603; longitude = -119.235709; captureRadius = 10; duration = 62; initialDepth = 480.087531; finalDepth = 481.187915; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:481.187915 # Seafloor depth:-521.187915 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 86 # Segment length 62.348219 meters # Minimum depth: 520.087531 meters looking forward 0.000000 meters along route # Maximum depth: 520.087531 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 480.087531 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.037152; longitude = -119.235356; captureRadius = 10; duration = 62; initialDepth = 475.704147; finalDepth = 480.087531; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:480.087531 # Seafloor depth:-520.087531 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 85 # Segment length 62.348219 meters # Minimum depth: 515.704147 meters looking forward 0.000000 meters along route # Maximum depth: 515.704147 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 475.704147 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.036701; longitude = -119.235002; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 472.252256; finalDepth = 475.704147; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:475.704147 # Seafloor depth:-515.704147 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 62.348219 meters # Minimum depth: 512.252256 meters looking forward 0.000000 meters along route # Maximum depth: 512.252256 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 472.252256 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.036431; longitude = -119.234700; captureRadius = 10; duration = 62; initialDepth = 472.376319; finalDepth = 472.252256; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:472.252256 # Seafloor depth:-512.252256 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 62.348219 meters # Minimum depth: 512.376319 meters looking forward 0.000000 meters along route # Maximum depth: 512.376319 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 472.376319 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.036070; longitude = -119.234298; captureRadius = 10; duration = 62; initialDepth = 471.668515; finalDepth = 472.376319; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:472.376319 # Seafloor depth:-512.376319 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 62.348219 meters # Minimum depth: 511.668515 meters looking forward 0.000000 meters along route # Maximum depth: 511.668515 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 471.668515 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.035686; longitude = -119.233869; captureRadius = 10; duration = 62; initialDepth = 470.141514; finalDepth = 471.668515; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:471.668515 # Seafloor depth:-511.668515 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 62.348219 meters # Minimum depth: 510.141514 meters looking forward 0.000000 meters along route # Maximum depth: 510.141514 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 470.141514 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.035349; longitude = -119.233492; captureRadius = 10; duration = 62; initialDepth = 469.489417; finalDepth = 470.141514; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:470.141514 # Seafloor depth:-510.141514 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 62.348219 meters # Minimum depth: 509.489417 meters looking forward 0.000000 meters along route # Maximum depth: 509.489417 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 469.489417 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.034988; longitude = -119.233090; captureRadius = 10; duration = 62; initialDepth = 474.665052; finalDepth = 469.489417; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:469.489417 # Seafloor depth:-509.489417 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 62.348219 meters # Minimum depth: 514.665052 meters looking forward 0.000000 meters along route # Maximum depth: 514.665052 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 474.665052 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.034619; longitude = -119.232678; captureRadius = 10; duration = 62; initialDepth = 477.817961; finalDepth = 474.665052; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:474.665052 # Seafloor depth:-514.665052 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 62.348219 meters # Minimum depth: 517.817961 meters looking forward 0.000000 meters along route # Maximum depth: 517.817961 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 477.817961 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.034266; longitude = -119.232285; captureRadius = 10; duration = 62; initialDepth = 476.656988; finalDepth = 477.817961; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:477.817961 # Seafloor depth:-517.817961 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 62.348219 meters # Minimum depth: 516.656988 meters looking forward 0.000000 meters along route # Maximum depth: 516.656988 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 476.656988 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.033906; longitude = -119.231882; captureRadius = 10; duration = 62; initialDepth = 477.344760; finalDepth = 476.656988; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:476.656988 # Seafloor depth:-516.656988 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 62.348219 meters # Minimum depth: 517.344760 meters looking forward 0.000000 meters along route # Maximum depth: 517.344760 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 477.344760 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.033545; longitude = -119.231479; captureRadius = 10; duration = 62; initialDepth = 482.532107; finalDepth = 477.344760; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:477.34476 # Seafloor depth:-517.344760 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 62.348219 meters # Minimum depth: 522.532107 meters looking forward 0.000000 meters along route # Maximum depth: 522.532107 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 482.532107 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.033163; longitude = -119.231053; captureRadius = 10; duration = 62; initialDepth = 484.160961; finalDepth = 482.532107; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:482.532107 # Seafloor depth:-522.532107 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 62.348219 meters # Minimum depth: 524.160961 meters looking forward 0.000000 meters along route # Maximum depth: 524.160961 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 484.160961 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.032824; longitude = -119.230674; captureRadius = 10; duration = 62; initialDepth = 483.397736; finalDepth = 484.160961; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:484.160961 # Seafloor depth:-524.160961 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 84 # Segment length 62.348219 meters # Minimum depth: 523.397736 meters looking forward 0.000000 meters along route # Maximum depth: 523.397736 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 483.397736 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.032493; longitude = -119.230305; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 483.502283; finalDepth = 483.397736; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:483.397736 # Seafloor depth:-523.397736 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 62.348219 meters # Minimum depth: 523.502283 meters looking forward 0.000000 meters along route # Maximum depth: 523.502283 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 483.502283 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.032485; longitude = -119.230294; captureRadius = 10; duration = 62; initialDepth = 487.225233; finalDepth = 483.502283; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:483.502283 # Seafloor depth:-523.502283 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 62.348219 meters # Minimum depth: 527.225233 meters looking forward 0.000000 meters along route # Maximum depth: 527.225233 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 487.225233 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.032168; longitude = -119.229861; captureRadius = 10; duration = 62; initialDepth = 489.302316; finalDepth = 487.225233; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:487.225233 # Seafloor depth:-527.225233 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 62.348219 meters # Minimum depth: 529.302316 meters looking forward 0.000000 meters along route # Maximum depth: 529.302316 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 489.302316 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.031832; longitude = -119.229402; captureRadius = 10; duration = 62; initialDepth = 489.508533; finalDepth = 489.302316; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:489.302316 # Seafloor depth:-529.302316 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 62.348219 meters # Minimum depth: 529.508533 meters looking forward 0.000000 meters along route # Maximum depth: 529.508533 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 489.508533 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.031533; longitude = -119.228994; captureRadius = 10; duration = 62; initialDepth = 492.114603; finalDepth = 489.508533; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:489.508533 # Seafloor depth:-529.508533 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 62.348219 meters # Minimum depth: 532.114603 meters looking forward 0.000000 meters along route # Maximum depth: 532.114603 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 492.114603 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.031201; longitude = -119.228541; captureRadius = 10; duration = 62; initialDepth = 495.349320; finalDepth = 492.114603; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:492.114603 # Seafloor depth:-532.114603 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 62.348219 meters # Minimum depth: 535.349320 meters looking forward 0.000000 meters along route # Maximum depth: 535.349320 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 495.349320 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.030898; longitude = -119.228128; captureRadius = 10; duration = 62; initialDepth = 495.479268; finalDepth = 495.349320; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:495.34932 # Seafloor depth:-535.349320 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 62.348219 meters # Minimum depth: 535.479268 meters looking forward 0.000000 meters along route # Maximum depth: 535.479268 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 495.479268 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.030569; longitude = -119.227679; captureRadius = 10; duration = 62; initialDepth = 495.731636; finalDepth = 495.479268; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:495.479268 # Seafloor depth:-535.479268 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 62.348219 meters # Minimum depth: 535.731636 meters looking forward 0.000000 meters along route # Maximum depth: 535.731636 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 495.731636 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.030263; longitude = -119.227261; captureRadius = 10; duration = 62; initialDepth = 499.947263; finalDepth = 495.731636; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:495.731636 # Seafloor depth:-535.731636 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 62.348219 meters # Minimum depth: 539.947263 meters looking forward 0.000000 meters along route # Maximum depth: 539.947263 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 499.947263 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.029938; longitude = -119.226817; captureRadius = 10; duration = 62; initialDepth = 501.475549; finalDepth = 499.947263; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:499.947263 # Seafloor depth:-539.947263 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 62.348219 meters # Minimum depth: 541.475549 meters looking forward 0.000000 meters along route # Maximum depth: 541.475549 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 501.475549 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.029628; longitude = -119.226394; captureRadius = 10; duration = 62; initialDepth = 504.816699; finalDepth = 501.475549; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:501.475549 # Seafloor depth:-541.475549 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 62.348219 meters # Minimum depth: 544.816699 meters looking forward 0.000000 meters along route # Maximum depth: 544.816699 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 504.816699 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.029307; longitude = -119.225956; captureRadius = 10; duration = 62; initialDepth = 506.812332; finalDepth = 504.816699; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:504.816699 # Seafloor depth:-544.816699 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 83 # Segment length 62.348219 meters # Minimum depth: 546.812332 meters looking forward 0.000000 meters along route # Maximum depth: 546.812332 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 506.812332 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.028946; longitude = -119.225463; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 506.541529; finalDepth = 506.812332; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:506.812332 # Seafloor depth:-546.812332 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 62.348219 meters # Minimum depth: 546.541529 meters looking forward 0.000000 meters along route # Maximum depth: 546.541529 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 506.541529 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.028766; longitude = -119.225360; captureRadius = 10; duration = 62; initialDepth = 510.987025; finalDepth = 506.541529; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:506.541529 # Seafloor depth:-546.541529 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 62.348219 meters # Minimum depth: 550.987025 meters looking forward 0.000000 meters along route # Maximum depth: 550.987025 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 510.987025 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.028302; longitude = -119.225094; captureRadius = 10; duration = 62; initialDepth = 514.138560; finalDepth = 510.987025; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:510.987025 # Seafloor depth:-550.987025 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 62.348219 meters # Minimum depth: 554.138560 meters looking forward 0.000000 meters along route # Maximum depth: 554.138560 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 514.138560 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.027864; longitude = -119.224844; captureRadius = 10; duration = 62; initialDepth = 511.805101; finalDepth = 514.138560; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:514.13856 # Seafloor depth:-554.138560 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 62.348219 meters # Minimum depth: 551.805101 meters looking forward 0.000000 meters along route # Maximum depth: 551.805101 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 511.805101 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.027413; longitude = -119.224586; captureRadius = 10; duration = 62; initialDepth = 511.157683; finalDepth = 511.805101; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:511.805101 # Seafloor depth:-551.805101 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 62.348219 meters # Minimum depth: 551.157683 meters looking forward 0.000000 meters along route # Maximum depth: 551.157683 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 511.157683 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.026963; longitude = -119.224328; captureRadius = 10; duration = 62; initialDepth = 513.143981; finalDepth = 511.157683; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:511.157683 # Seafloor depth:-551.157683 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 62.348219 meters # Minimum depth: 553.143981 meters looking forward 0.000000 meters along route # Maximum depth: 553.143981 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 513.143981 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.026512; longitude = -119.224069; captureRadius = 10; duration = 62; initialDepth = 516.635386; finalDepth = 513.143981; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:513.143981 # Seafloor depth:-553.143981 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 62.348219 meters # Minimum depth: 556.635386 meters looking forward 0.000000 meters along route # Maximum depth: 556.635386 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 516.635386 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.026031; longitude = -119.223794; captureRadius = 10; duration = 62; initialDepth = 525.013534; finalDepth = 516.635386; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:516.635386 # Seafloor depth:-556.635386 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 62.348219 meters # Minimum depth: 565.013534 meters looking forward 0.000000 meters along route # Maximum depth: 565.013534 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 525.013534 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.025610; longitude = -119.223553; captureRadius = 10; duration = 62; initialDepth = 525.914459; finalDepth = 525.013534; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:525.013534 # Seafloor depth:-565.013534 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 82 # Segment length 62.348219 meters # Minimum depth: 565.914459 meters looking forward 0.000000 meters along route # Maximum depth: 565.914459 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 525.914459 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.025159; longitude = -119.223295; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 526.689200; finalDepth = 525.914459; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:525.914459 # Seafloor depth:-565.914459 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 62.348219 meters # Minimum depth: 566.689200 meters looking forward 0.000000 meters along route # Maximum depth: 566.689200 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 526.689200 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.025069; longitude = -119.223502; captureRadius = 10; duration = 62; initialDepth = 529.015173; finalDepth = 526.689200; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:526.6892 # Seafloor depth:-566.689200 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 62.348219 meters # Minimum depth: 569.015173 meters looking forward 0.000000 meters along route # Maximum depth: 569.015173 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 529.015173 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.024847; longitude = -119.224011; captureRadius = 10; duration = 62; initialDepth = 529.204597; finalDepth = 529.015173; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:529.015173 # Seafloor depth:-569.015173 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 62.348219 meters # Minimum depth: 569.204597 meters looking forward 0.000000 meters along route # Maximum depth: 569.204597 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 529.204597 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.024611; longitude = -119.224553; captureRadius = 10; duration = 62; initialDepth = 529.367136; finalDepth = 529.204597; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:529.204597 # Seafloor depth:-569.204597 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 62.348219 meters # Minimum depth: 569.367136 meters looking forward 0.000000 meters along route # Maximum depth: 569.367136 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 529.367136 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.024375; longitude = -119.225094; captureRadius = 10; duration = 62; initialDepth = 530.658886; finalDepth = 529.367136; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:529.367136 # Seafloor depth:-569.367136 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 62.348219 meters # Minimum depth: 570.658886 meters looking forward 0.000000 meters along route # Maximum depth: 570.658886 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 530.658886 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.024139; longitude = -119.225636; captureRadius = 10; duration = 62; initialDepth = 532.694988; finalDepth = 530.658886; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:530.658886 # Seafloor depth:-570.658886 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 62.348219 meters # Minimum depth: 572.694988 meters looking forward 0.000000 meters along route # Maximum depth: 572.694988 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 532.694988 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.023897; longitude = -119.226192; captureRadius = 10; duration = 62; initialDepth = 534.147546; finalDepth = 532.694988; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:532.694988 # Seafloor depth:-572.694988 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 62.348219 meters # Minimum depth: 574.147546 meters looking forward 0.000000 meters along route # Maximum depth: 574.147546 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 534.147546 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.023667; longitude = -119.226719; captureRadius = 10; duration = 62; initialDepth = 535.012183; finalDepth = 534.147546; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:534.147546 # Seafloor depth:-574.147546 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 62.348219 meters # Minimum depth: 575.012183 meters looking forward 0.000000 meters along route # Maximum depth: 575.012183 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 535.012183 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.023431; longitude = -119.227261; captureRadius = 10; duration = 62; initialDepth = 535.834076; finalDepth = 535.012183; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:535.012183 # Seafloor depth:-575.012183 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 81 # Segment length 62.348219 meters # Minimum depth: 575.834076 meters looking forward 0.000000 meters along route # Maximum depth: 575.834076 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 535.834076 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.023175; longitude = -119.227848; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 535.903723; finalDepth = 535.834076; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:535.834076 # Seafloor depth:-575.834076 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 62.348219 meters # Minimum depth: 575.903723 meters looking forward 0.000000 meters along route # Maximum depth: 575.903723 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 535.903723 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.023085; longitude = -119.228019; captureRadius = 10; duration = 62; initialDepth = 536.815769; finalDepth = 535.903723; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:535.903723 # Seafloor depth:-575.903723 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 62.348219 meters # Minimum depth: 576.815769 meters looking forward 0.000000 meters along route # Maximum depth: 576.815769 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 536.815769 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.022801; longitude = -119.228561; captureRadius = 10; duration = 62; initialDepth = 537.472701; finalDepth = 536.815769; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:536.815769 # Seafloor depth:-576.815769 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 62.348219 meters # Minimum depth: 577.472701 meters looking forward 0.000000 meters along route # Maximum depth: 577.472701 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 537.472701 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.022517; longitude = -119.229103; captureRadius = 10; duration = 62; initialDepth = 538.413757; finalDepth = 537.472701; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:537.472701 # Seafloor depth:-577.472701 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 62.348219 meters # Minimum depth: 578.413757 meters looking forward 0.000000 meters along route # Maximum depth: 578.413757 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 538.413757 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.022274; longitude = -119.229568; captureRadius = 10; duration = 62; initialDepth = 539.773352; finalDepth = 538.413757; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:538.413757 # Seafloor depth:-578.413757 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 62.348219 meters # Minimum depth: 579.773352 meters looking forward 0.000000 meters along route # Maximum depth: 579.773352 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 539.773352 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.022003; longitude = -119.230084; captureRadius = 10; duration = 62; initialDepth = 542.748816; finalDepth = 539.773352; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:539.773352 # Seafloor depth:-579.773352 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 62.348219 meters # Minimum depth: 582.748816 meters looking forward 0.000000 meters along route # Maximum depth: 582.748816 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 542.748816 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.021722; longitude = -119.230619; captureRadius = 10; duration = 62; initialDepth = 543.539077; finalDepth = 542.748816; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:542.748816 # Seafloor depth:-582.748816 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 62.348219 meters # Minimum depth: 583.539077 meters looking forward 0.000000 meters along route # Maximum depth: 583.539077 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 543.539077 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.021438; longitude = -119.231161; captureRadius = 10; duration = 62; initialDepth = 545.300603; finalDepth = 543.539077; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:543.539077 # Seafloor depth:-583.539077 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 62.348219 meters # Minimum depth: 585.300603 meters looking forward 0.000000 meters along route # Maximum depth: 585.300603 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 545.300603 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.021192; longitude = -119.231632; captureRadius = 10; duration = 62; initialDepth = 545.387659; finalDepth = 545.300603; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:545.300603 # Seafloor depth:-585.300603 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 62.348219 meters # Minimum depth: 585.387659 meters looking forward 0.000000 meters along route # Maximum depth: 585.387659 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 545.387659 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.020921; longitude = -119.232148; captureRadius = 10; duration = 62; initialDepth = 547.427115; finalDepth = 545.387659; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:545.387659 # Seafloor depth:-585.387659 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 62.348219 meters # Minimum depth: 587.427115 meters looking forward 0.000000 meters along route # Maximum depth: 587.427115 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 547.427115 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.020650; longitude = -119.232664; captureRadius = 10; duration = 62; initialDepth = 549.037415; finalDepth = 547.427115; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:547.427115 # Seafloor depth:-587.427115 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 80 # Segment length 62.348219 meters # Minimum depth: 589.037415 meters looking forward 0.000000 meters along route # Maximum depth: 589.037415 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 549.037415 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.020410; longitude = -119.233123; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 549.650995; finalDepth = 549.037415; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:549.037415 # Seafloor depth:-589.037415 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 80 # Segment length 62.348219 meters # Minimum depth: 589.650995 meters looking forward 0.000000 meters along route # Maximum depth: 589.650995 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 549.650995 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.020351; longitude = -119.233328; captureRadius = 10; duration = 62; initialDepth = 551.044313; finalDepth = 549.650995; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:549.650995 # Seafloor depth:-589.650995 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 80 # Segment length 62.348219 meters # Minimum depth: 591.044313 meters looking forward 0.000000 meters along route # Maximum depth: 591.044313 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 551.044313 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.020195; longitude = -119.233869; captureRadius = 10; duration = 62; initialDepth = 552.488276; finalDepth = 551.044313; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:551.044313 # Seafloor depth:-591.044313 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 80 # Segment length 62.348219 meters # Minimum depth: 592.488276 meters looking forward 0.000000 meters along route # Maximum depth: 592.488276 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 552.488276 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.020039; longitude = -119.234411; captureRadius = 10; duration = 62; initialDepth = 553.769961; finalDepth = 552.488276; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:552.488276 # Seafloor depth:-592.488276 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 80 # Segment length 62.348219 meters # Minimum depth: 593.769961 meters looking forward 0.000000 meters along route # Maximum depth: 593.769961 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 553.769961 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.019883; longitude = -119.234953; captureRadius = 10; duration = 62; initialDepth = 555.801089; finalDepth = 553.769961; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:553.769961 # Seafloor depth:-593.769961 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 80 # Segment length 62.348219 meters # Minimum depth: 595.801089 meters looking forward 0.000000 meters along route # Maximum depth: 595.801089 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 555.801089 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.019726; longitude = -119.235494; captureRadius = 10; duration = 62; initialDepth = 557.252785; finalDepth = 555.801089; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:555.801089 # Seafloor depth:-595.801089 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 80 # Segment length 62.348219 meters # Minimum depth: 597.252785 meters looking forward 0.000000 meters along route # Maximum depth: 597.252785 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 557.252785 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.019568; longitude = -119.236042; captureRadius = 10; duration = 62; initialDepth = 557.411291; finalDepth = 557.252785; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:557.252785 # Seafloor depth:-597.252785 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 80 # Segment length 62.348219 meters # Minimum depth: 597.411291 meters looking forward 0.000000 meters along route # Maximum depth: 597.411291 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 557.411291 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.019414; longitude = -119.236578; captureRadius = 10; duration = 62; initialDepth = 557.980422; finalDepth = 557.411291; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:557.411291 # Seafloor depth:-597.411291 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 80 # Segment length 62.348219 meters # Minimum depth: 597.980422 meters looking forward 0.000000 meters along route # Maximum depth: 597.980422 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 557.980422 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.019258; longitude = -119.237119; captureRadius = 10; duration = 62; initialDepth = 558.696381; finalDepth = 557.980422; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:557.980422 # Seafloor depth:-597.980422 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 80 # Segment length 62.348219 meters # Minimum depth: 598.696381 meters looking forward 0.000000 meters along route # Maximum depth: 598.696381 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 558.696381 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.019102; longitude = -119.237661; captureRadius = 10; duration = 62; initialDepth = 559.307096; finalDepth = 558.696381; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:558.696381 # Seafloor depth:-598.696381 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 80 # Segment length 62.348219 meters # Minimum depth: 599.307096 meters looking forward 0.000000 meters along route # Maximum depth: 599.307096 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 559.307096 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.018937; longitude = -119.238232; captureRadius = 10; duration = 62; initialDepth = 560.098112; finalDepth = 559.307096; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:559.307096 # Seafloor depth:-599.307096 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 80 # Segment length 62.348219 meters # Minimum depth: 600.098112 meters looking forward 0.000000 meters along route # Maximum depth: 600.098112 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 560.098112 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.018790; longitude = -119.238744; captureRadius = 10; duration = 62; initialDepth = 561.350733; finalDepth = 560.098112; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:560.098112 # Seafloor depth:-600.098112 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 80 # Segment length 62.348219 meters # Minimum depth: 601.350733 meters looking forward 0.000000 meters along route # Maximum depth: 601.350733 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 561.350733 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.018633; longitude = -119.239286; captureRadius = 10; duration = 62; initialDepth = 562.227159; finalDepth = 561.350733; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:561.350733 # Seafloor depth:-601.350733 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 80 # Segment length 62.348219 meters # Minimum depth: 602.227159 meters looking forward 0.000000 meters along route # Maximum depth: 602.227159 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 562.227159 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.018477; longitude = -119.239828; captureRadius = 10; duration = 62; initialDepth = 563.134369; finalDepth = 562.227159; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:562.227159 # Seafloor depth:-602.227159 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 79 # Segment length 62.348219 meters # Minimum depth: 603.134369 meters looking forward 0.000000 meters along route # Maximum depth: 603.134369 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 563.134369 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.018306; longitude = -119.240422; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 563.364721; finalDepth = 563.134369; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:563.134369 # Seafloor depth:-603.134369 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 62.348219 meters # Minimum depth: 603.364721 meters looking forward 0.000000 meters along route # Maximum depth: 603.364721 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 563.364721 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.018191; longitude = -119.240586; captureRadius = 10; duration = 62; initialDepth = 563.840675; finalDepth = 563.364721; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:563.364721 # Seafloor depth:-603.364721 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 62.348219 meters # Minimum depth: 603.840675 meters looking forward 0.000000 meters along route # Maximum depth: 603.840675 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 563.840675 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.017886; longitude = -119.241019; captureRadius = 10; duration = 62; initialDepth = 564.055110; finalDepth = 563.840675; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:563.840675 # Seafloor depth:-603.840675 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 62.348219 meters # Minimum depth: 604.055110 meters looking forward 0.000000 meters along route # Maximum depth: 604.055110 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 564.055110 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.017581; longitude = -119.241453; captureRadius = 10; duration = 62; initialDepth = 564.195473; finalDepth = 564.055110; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:564.05511 # Seafloor depth:-604.055110 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 62.348219 meters # Minimum depth: 604.195473 meters looking forward 0.000000 meters along route # Maximum depth: 604.195473 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 564.195473 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.017276; longitude = -119.241886; captureRadius = 10; duration = 62; initialDepth = 565.870623; finalDepth = 564.195473; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:564.195473 # Seafloor depth:-604.195473 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 62.348219 meters # Minimum depth: 605.870623 meters looking forward 0.000000 meters along route # Maximum depth: 605.870623 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 565.870623 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.016971; longitude = -119.242319; captureRadius = 10; duration = 62; initialDepth = 566.291344; finalDepth = 565.870623; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:565.870623 # Seafloor depth:-605.870623 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 62.348219 meters # Minimum depth: 606.291344 meters looking forward 0.000000 meters along route # Maximum depth: 606.291344 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 566.291344 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.016666; longitude = -119.242753; captureRadius = 10; duration = 62; initialDepth = 566.933563; finalDepth = 566.291344; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:566.291344 # Seafloor depth:-606.291344 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 78 # Segment length 62.348219 meters # Minimum depth: 606.933563 meters looking forward 0.000000 meters along route # Maximum depth: 606.933563 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 566.933563 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.016322; longitude = -119.243241; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 567.648081; finalDepth = 566.933563; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:566.933563 # Seafloor depth:-606.933563 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 62.348219 meters # Minimum depth: 607.648081 meters looking forward 0.000000 meters along route # Maximum depth: 607.648081 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 567.648081 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.015962; longitude = -119.243445; captureRadius = 10; duration = 62; initialDepth = 568.012239; finalDepth = 567.648081; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:567.648081 # Seafloor depth:-607.648081 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 62.348219 meters # Minimum depth: 608.012239 meters looking forward 0.000000 meters along route # Maximum depth: 608.012239 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 568.012239 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.015511; longitude = -119.243700; captureRadius = 10; duration = 62; initialDepth = 568.343003; finalDepth = 568.012239; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:568.012239 # Seafloor depth:-608.012239 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 62.348219 meters # Minimum depth: 608.343003 meters looking forward 0.000000 meters along route # Maximum depth: 608.343003 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 568.343003 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.015060; longitude = -119.243955; captureRadius = 10; duration = 62; initialDepth = 569.081186; finalDepth = 568.343003; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:568.343003 # Seafloor depth:-608.343003 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 62.348219 meters # Minimum depth: 609.081186 meters looking forward 0.000000 meters along route # Maximum depth: 609.081186 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 569.081186 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.014609; longitude = -119.244210; captureRadius = 10; duration = 62; initialDepth = 570.307447; finalDepth = 569.081186; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:569.081186 # Seafloor depth:-609.081186 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 62.348219 meters # Minimum depth: 610.307447 meters looking forward 0.000000 meters along route # Maximum depth: 610.307447 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 570.307447 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.014121; longitude = -119.244486; captureRadius = 10; duration = 62; initialDepth = 571.812076; finalDepth = 570.307447; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:570.307447 # Seafloor depth:-610.307447 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 62.348219 meters # Minimum depth: 611.812076 meters looking forward 0.000000 meters along route # Maximum depth: 611.812076 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 571.812076 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.013707; longitude = -119.244720; captureRadius = 10; duration = 62; initialDepth = 573.439240; finalDepth = 571.812076; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:571.812076 # Seafloor depth:-611.812076 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 77 # Segment length 62.348219 meters # Minimum depth: 613.439240 meters looking forward 0.000000 meters along route # Maximum depth: 613.439240 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 573.439240 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.013256; longitude = -119.244975; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 574.425784; finalDepth = 573.439240; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:573.43924 # Seafloor depth:-613.439240 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 77 # Segment length 62.348219 meters # Minimum depth: 614.425784 meters looking forward 0.000000 meters along route # Maximum depth: 614.425784 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 574.425784 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.012790; longitude = -119.245244; captureRadius = 10; duration = 62; initialDepth = 575.641704; finalDepth = 574.425784; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:574.425784 # Seafloor depth:-614.425784 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 77 # Segment length 62.348219 meters # Minimum depth: 615.641704 meters looking forward 0.000000 meters along route # Maximum depth: 615.641704 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 575.641704 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.012355; longitude = -119.245496; captureRadius = 10; duration = 62; initialDepth = 577.173012; finalDepth = 575.641704; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:575.641704 # Seafloor depth:-615.641704 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 77 # Segment length 62.348219 meters # Minimum depth: 617.173012 meters looking forward 0.000000 meters along route # Maximum depth: 617.173012 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 577.173012 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.011904; longitude = -119.245757; captureRadius = 10; duration = 62; initialDepth = 576.941024; finalDepth = 577.173012; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:577.173012 # Seafloor depth:-617.173012 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 77 # Segment length 62.348219 meters # Minimum depth: 616.941024 meters looking forward 0.000000 meters along route # Maximum depth: 616.941024 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 576.941024 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.011453; longitude = -119.246017; captureRadius = 10; duration = 62; initialDepth = 577.170830; finalDepth = 576.941024; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:576.941024 # Seafloor depth:-616.941024 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 77 # Segment length 62.348219 meters # Minimum depth: 617.170830 meters looking forward 0.000000 meters along route # Maximum depth: 617.170830 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 577.170830 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.011002; longitude = -119.246278; captureRadius = 10; duration = 62; initialDepth = 576.926093; finalDepth = 577.170830; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:577.17083 # Seafloor depth:-617.170830 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 77 # Segment length 62.348219 meters # Minimum depth: 616.926093 meters looking forward 0.000000 meters along route # Maximum depth: 616.926093 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 576.926093 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.010541; longitude = -119.246544; captureRadius = 10; duration = 62; initialDepth = 577.862411; finalDepth = 576.926093; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:576.926093 # Seafloor depth:-616.926093 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 76 # Segment length 62.348219 meters # Minimum depth: 617.862411 meters looking forward 0.000000 meters along route # Maximum depth: 617.862411 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 577.862411 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.010130; longitude = -119.246782; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 578.126540; finalDepth = 577.862411; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:577.862411 # Seafloor depth:-617.862411 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 76 # Segment length 62.348219 meters # Minimum depth: 618.126540 meters looking forward 0.000000 meters along route # Maximum depth: 618.126540 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 578.126540 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.009740; longitude = -119.247101; captureRadius = 10; duration = 62; initialDepth = 577.843810; finalDepth = 578.126540; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:578.12654 # Seafloor depth:-618.126540 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 76 # Segment length 62.348219 meters # Minimum depth: 617.843810 meters looking forward 0.000000 meters along route # Maximum depth: 617.843810 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 577.843810 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.009361; longitude = -119.247411; captureRadius = 10; duration = 62; initialDepth = 578.522591; finalDepth = 577.843810; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:577.84381 # Seafloor depth:-617.843810 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 76 # Segment length 62.348219 meters # Minimum depth: 618.522591 meters looking forward 0.000000 meters along route # Maximum depth: 618.522591 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 578.522591 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.008964; longitude = -119.247736; captureRadius = 10; duration = 62; initialDepth = 579.542038; finalDepth = 578.522591; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:578.522591 # Seafloor depth:-618.522591 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 76 # Segment length 62.348219 meters # Minimum depth: 619.542038 meters looking forward 0.000000 meters along route # Maximum depth: 619.542038 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 579.542038 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.008567; longitude = -119.248061; captureRadius = 10; duration = 62; initialDepth = 579.882453; finalDepth = 579.542038; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:579.542038 # Seafloor depth:-619.542038 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 76 # Segment length 62.348219 meters # Minimum depth: 619.882453 meters looking forward 0.000000 meters along route # Maximum depth: 619.882453 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 579.882453 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.008170; longitude = -119.248386; captureRadius = 10; duration = 62; initialDepth = 581.247740; finalDepth = 579.882453; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:579.882453 # Seafloor depth:-619.882453 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 76 # Segment length 62.348219 meters # Minimum depth: 621.247740 meters looking forward 0.000000 meters along route # Maximum depth: 621.247740 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 581.247740 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.007756; longitude = -119.248725; captureRadius = 10; duration = 62; initialDepth = 582.962906; finalDepth = 581.247740; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:581.24774 # Seafloor depth:-621.247740 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 75 # Segment length 62.348219 meters # Minimum depth: 622.962906 meters looking forward 0.000000 meters along route # Maximum depth: 622.962906 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 582.962906 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.007305; longitude = -119.249094; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 583.521273; finalDepth = 582.962906; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:582.962906 # Seafloor depth:-622.962906 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 62.348219 meters # Minimum depth: 623.521273 meters looking forward 0.000000 meters along route # Maximum depth: 623.521273 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 583.521273 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.006854; longitude = -119.249336; captureRadius = 10; duration = 62; initialDepth = 584.333814; finalDepth = 583.521273; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:583.521273 # Seafloor depth:-623.521273 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 62.348219 meters # Minimum depth: 624.333814 meters looking forward 0.000000 meters along route # Maximum depth: 624.333814 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 584.333814 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.006403; longitude = -119.249578; captureRadius = 10; duration = 62; initialDepth = 585.678652; finalDepth = 584.333814; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:584.333814 # Seafloor depth:-624.333814 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 62.348219 meters # Minimum depth: 625.678652 meters looking forward 0.000000 meters along route # Maximum depth: 625.678652 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 585.678652 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.005952; longitude = -119.249819; captureRadius = 10; duration = 62; initialDepth = 586.829755; finalDepth = 585.678652; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:585.678652 # Seafloor depth:-625.678652 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 62.348219 meters # Minimum depth: 626.829755 meters looking forward 0.000000 meters along route # Maximum depth: 626.829755 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 586.829755 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.005502; longitude = -119.250061; captureRadius = 10; duration = 62; initialDepth = 588.513041; finalDepth = 586.829755; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:586.829755 # Seafloor depth:-626.829755 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 62.348219 meters # Minimum depth: 628.513041 meters looking forward 0.000000 meters along route # Maximum depth: 628.513041 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 588.513041 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.005051; longitude = -119.250302; captureRadius = 10; duration = 62; initialDepth = 589.849235; finalDepth = 588.513041; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:588.513041 # Seafloor depth:-628.513041 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 62.348219 meters # Minimum depth: 629.849235 meters looking forward 0.000000 meters along route # Maximum depth: 629.849235 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 589.849235 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.004584; longitude = -119.250553; captureRadius = 10; duration = 62; initialDepth = 590.996921; finalDepth = 589.849235; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:589.849235 # Seafloor depth:-629.849235 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 62.348219 meters # Minimum depth: 630.996921 meters looking forward 0.000000 meters along route # Maximum depth: 630.996921 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 590.996921 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.004149; longitude = -119.250786; captureRadius = 10; duration = 62; initialDepth = 593.245191; finalDepth = 590.996921; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:590.996921 # Seafloor depth:-630.996921 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 62.348219 meters # Minimum depth: 633.245191 meters looking forward 0.000000 meters along route # Maximum depth: 633.245191 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 593.245191 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.003698; longitude = -119.251027; captureRadius = 10; duration = 62; initialDepth = 593.047965; finalDepth = 593.245191; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:593.245191 # Seafloor depth:-633.245191 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 62.348219 meters # Minimum depth: 633.047965 meters looking forward 0.000000 meters along route # Maximum depth: 633.047965 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 593.047965 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.003247; longitude = -119.251269; captureRadius = 10; duration = 62; initialDepth = 594.245740; finalDepth = 593.047965; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:593.047965 # Seafloor depth:-633.047965 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 62.348219 meters # Minimum depth: 634.245740 meters looking forward 0.000000 meters along route # Maximum depth: 634.245740 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 594.245740 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.002765; longitude = -119.251528; captureRadius = 10; duration = 62; initialDepth = 595.158600; finalDepth = 594.245740; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:594.24574 # Seafloor depth:-634.245740 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 62.348219 meters # Minimum depth: 635.158600 meters looking forward 0.000000 meters along route # Maximum depth: 635.158600 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 595.158600 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.002346; longitude = -119.251752; captureRadius = 10; duration = 62; initialDepth = 596.554334; finalDepth = 595.158600; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:595.1586 # Seafloor depth:-635.158600 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 62.348219 meters # Minimum depth: 636.554334 meters looking forward 0.000000 meters along route # Maximum depth: 636.554334 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 596.554334 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.001895; longitude = -119.251994; captureRadius = 10; duration = 62; initialDepth = 597.362291; finalDepth = 596.554334; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:596.554334 # Seafloor depth:-636.554334 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 62.348219 meters # Minimum depth: 637.362291 meters looking forward 0.000000 meters along route # Maximum depth: 637.362291 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 597.362291 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.001444; longitude = -119.252236; captureRadius = 10; duration = 62; initialDepth = 599.015795; finalDepth = 597.362291; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:597.362291 # Seafloor depth:-637.362291 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 62.348219 meters # Minimum depth: 639.015795 meters looking forward 0.000000 meters along route # Maximum depth: 639.015795 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 599.015795 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.000993; longitude = -119.252477; captureRadius = 10; duration = 62; initialDepth = 601.030268; finalDepth = 599.015795; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:599.015795 # Seafloor depth:-639.015795 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 62.348219 meters # Minimum depth: 641.030268 meters looking forward 0.000000 meters along route # Maximum depth: 641.030268 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 601.030268 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.000542; longitude = -119.252719; captureRadius = 10; duration = 62; initialDepth = 601.661055; finalDepth = 601.030268; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:601.030268 # Seafloor depth:-641.030268 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 62.348219 meters # Minimum depth: 641.661055 meters looking forward 0.000000 meters along route # Maximum depth: 641.661055 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 601.661055 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.000091; longitude = -119.252961; captureRadius = 10; duration = 62; initialDepth = 601.857736; finalDepth = 601.661055; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:601.661055 # Seafloor depth:-641.661055 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 62.348219 meters # Minimum depth: 641.857736 meters looking forward 0.000000 meters along route # Maximum depth: 641.857736 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 601.857736 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.999640; longitude = -119.253202; captureRadius = 10; duration = 62; initialDepth = 603.799575; finalDepth = 601.857736; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:601.857736 # Seafloor depth:-641.857736 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 62.348219 meters # Minimum depth: 643.799575 meters looking forward 0.000000 meters along route # Maximum depth: 643.799575 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 603.799575 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.999190; longitude = -119.253444; captureRadius = 10; duration = 62; initialDepth = 604.769250; finalDepth = 603.799575; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:603.799575 # Seafloor depth:-643.799575 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 62.348219 meters # Minimum depth: 644.769250 meters looking forward 0.000000 meters along route # Maximum depth: 644.769250 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 604.769250 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.998723; longitude = -119.253694; captureRadius = 10; duration = 62; initialDepth = 605.763734; finalDepth = 604.769250; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:604.76925 # Seafloor depth:-644.769250 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 62.348219 meters # Minimum depth: 645.763734 meters looking forward 0.000000 meters along route # Maximum depth: 645.763734 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 605.763734 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.998288; longitude = -119.253927; captureRadius = 10; duration = 62; initialDepth = 606.310425; finalDepth = 605.763734; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:605.763734 # Seafloor depth:-645.763734 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 74 # Segment length 62.348219 meters # Minimum depth: 646.310425 meters looking forward 0.000000 meters along route # Maximum depth: 646.310425 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 606.310425 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.997867; longitude = -119.254153; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 606.462877; finalDepth = 606.310425; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:606.310425 # Seafloor depth:-646.310425 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 74 # Segment length 62.348219 meters # Minimum depth: 646.462877 meters looking forward 0.000000 meters along route # Maximum depth: 646.462877 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 606.462877 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.997837; longitude = -119.254167; captureRadius = 10; duration = 62; initialDepth = 607.434775; finalDepth = 606.462877; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:606.462877 # Seafloor depth:-646.462877 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 74 # Segment length 62.348219 meters # Minimum depth: 647.434775 meters looking forward 0.000000 meters along route # Maximum depth: 647.434775 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 607.434775 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.997386; longitude = -119.254384; captureRadius = 10; duration = 62; initialDepth = 608.705841; finalDepth = 607.434775; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:607.434775 # Seafloor depth:-647.434775 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 74 # Segment length 62.348219 meters # Minimum depth: 648.705841 meters looking forward 0.000000 meters along route # Maximum depth: 648.705841 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 608.705841 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.996935; longitude = -119.254601; captureRadius = 10; duration = 62; initialDepth = 609.257229; finalDepth = 608.705841; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:608.705841 # Seafloor depth:-648.705841 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 74 # Segment length 62.348219 meters # Minimum depth: 649.257229 meters looking forward 0.000000 meters along route # Maximum depth: 649.257229 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 609.257229 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.996484; longitude = -119.254818; captureRadius = 10; duration = 62; initialDepth = 620.711648; finalDepth = 609.257229; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:609.257229 # Seafloor depth:-649.257229 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 74 # Segment length 62.348219 meters # Minimum depth: 660.711648 meters looking forward 0.000000 meters along route # Maximum depth: 660.711648 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 620.711648 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.996034; longitude = -119.255035; captureRadius = 10; duration = 62; initialDepth = 621.234451; finalDepth = 620.711648; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:620.711648 # Seafloor depth:-660.711648 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 74 # Segment length 62.348219 meters # Minimum depth: 661.234451 meters looking forward 0.000000 meters along route # Maximum depth: 661.234451 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 621.234451 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.995583; longitude = -119.255251; captureRadius = 10; duration = 62; initialDepth = 623.458943; finalDepth = 621.234451; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:621.234451 # Seafloor depth:-661.234451 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 74 # Segment length 62.348219 meters # Minimum depth: 663.458943 meters looking forward 0.000000 meters along route # Maximum depth: 663.458943 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 623.458943 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.995132; longitude = -119.255468; captureRadius = 10; duration = 62; initialDepth = 625.130836; finalDepth = 623.458943; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:623.458943 # Seafloor depth:-663.458943 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 74 # Segment length 62.348219 meters # Minimum depth: 665.130836 meters looking forward 0.000000 meters along route # Maximum depth: 665.130836 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 625.130836 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.994681; longitude = -119.255685; captureRadius = 10; duration = 62; initialDepth = 627.178165; finalDepth = 625.130836; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:625.130836 # Seafloor depth:-665.130836 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 74 # Segment length 62.348219 meters # Minimum depth: 667.178165 meters looking forward 0.000000 meters along route # Maximum depth: 667.178165 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 627.178165 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.994230; longitude = -119.255902; captureRadius = 10; duration = 62; initialDepth = 628.945915; finalDepth = 627.178165; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:627.178165 # Seafloor depth:-667.178165 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 74 # Segment length 62.348219 meters # Minimum depth: 668.945915 meters looking forward 0.000000 meters along route # Maximum depth: 668.945915 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 628.945915 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.993779; longitude = -119.256119; captureRadius = 10; duration = 62; initialDepth = 630.869616; finalDepth = 628.945915; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:628.945915 # Seafloor depth:-668.945915 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 74 # Segment length 62.348219 meters # Minimum depth: 670.869616 meters looking forward 0.000000 meters along route # Maximum depth: 670.869616 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 630.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.993328; longitude = -119.256336; captureRadius = 10; duration = 62; initialDepth = 631.955946; finalDepth = 630.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.869616 # Actual altitude: 50 # Commanded vehicle depth:630 # Seafloor depth:-670.869616 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 74 # Segment length 62.348219 meters # Minimum depth: 671.955946 meters looking forward 0.000000 meters along route # Maximum depth: 671.955946 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 630.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.992877; longitude = -119.256552; captureRadius = 10; duration = 62; initialDepth = 633.477092; finalDepth = 630.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.955946 # Actual altitude: 50 # Commanded vehicle depth:630 # Seafloor depth:-671.955946 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 74 # Segment length 62.348219 meters # Minimum depth: 673.477092 meters looking forward 0.000000 meters along route # Maximum depth: 673.477092 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 630.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.992427; longitude = -119.256769; captureRadius = 10; duration = 62; initialDepth = 635.464400; finalDepth = 630.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.477092 # Actual altitude: 50 # Commanded vehicle depth:630 # Seafloor depth:-673.477092 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 74 # Segment length 62.348219 meters # Minimum depth: 675.464400 meters looking forward 0.000000 meters along route # Maximum depth: 675.464400 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 630.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.991976; longitude = -119.256986; captureRadius = 10; duration = 62; initialDepth = 637.419349; finalDepth = 630.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.4644 # Actual altitude: 50 # Commanded vehicle depth:630 # Seafloor depth:-675.464400 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 74 # Segment length 62.348219 meters # Minimum depth: 677.419349 meters looking forward 0.000000 meters along route # Maximum depth: 677.419349 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 630.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.991525; longitude = -119.257203; captureRadius = 10; duration = 62; initialDepth = 639.411528; finalDepth = 630.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.419349 # Actual altitude: 50 # Commanded vehicle depth:630 # Seafloor depth:-677.419349 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 74 # Segment length 62.348219 meters # Minimum depth: 679.411528 meters looking forward 0.000000 meters along route # Maximum depth: 679.411528 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 630.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.991074; longitude = -119.257420; captureRadius = 10; duration = 62; initialDepth = 641.287842; finalDepth = 630.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.411528 # Actual altitude: 50 # Commanded vehicle depth:630 # Seafloor depth:-679.411528 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 73 # Segment length 62.348219 meters # Minimum depth: 681.287842 meters looking forward 0.000000 meters along route # Maximum depth: 681.287842 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 630.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.990653; longitude = -119.257622; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 642.292897; finalDepth = 630.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.287842 # Actual altitude: 51.287842 # Commanded vehicle depth:630 # Seafloor depth:-681.287842 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.15; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.52; MB_Bottom_Detect_Filter_Max_Range = 205.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 62.348219 meters # Minimum depth: 682.292897 meters looking forward 0.000000 meters along route # Maximum depth: 682.292897 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 630.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.990506; longitude = -119.257269; captureRadius = 10; duration = 62; initialDepth = 640.658236; finalDepth = 630.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.292897 # Actual altitude: 52.292897 # Commanded vehicle depth:630 # Seafloor depth:-682.292897 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.17; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.92; MB_Bottom_Detect_Filter_Max_Range = 209.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 62.348219 meters # Minimum depth: 680.658236 meters looking forward 0.000000 meters along route # Maximum depth: 680.658236 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 630.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.990262; longitude = -119.256683; captureRadius = 10; duration = 62; initialDepth = 641.669494; finalDepth = 630.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.292897 # Actual altitude: 52.292897 # Commanded vehicle depth:630 # Seafloor depth:-680.658236 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.17; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.92; MB_Bottom_Detect_Filter_Max_Range = 209.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 62.348219 meters # Minimum depth: 681.669494 meters looking forward 0.000000 meters along route # Maximum depth: 681.669494 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 630.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.990056; longitude = -119.256186; captureRadius = 10; duration = 62; initialDepth = 640.407898; finalDepth = 630.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 51.669494 # Actual altitude: 51.669494 # Commanded vehicle depth:630 # Seafloor depth:-681.669494 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.68; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.67; MB_Bottom_Detect_Filter_Max_Range = 206.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 72 # Segment length 62.348219 meters # Minimum depth: 680.407898 meters looking forward 0.000000 meters along route # Maximum depth: 680.407898 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 630.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.989811; longitude = -119.255598; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 640.437038; finalDepth = 630.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.669494 # Actual altitude: 51.669494 # Commanded vehicle depth:630 # Seafloor depth:-680.407898 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.68; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.67; MB_Bottom_Detect_Filter_Max_Range = 206.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 72 # Segment length 62.348219 meters # Minimum depth: 680.437038 meters looking forward 0.000000 meters along route # Maximum depth: 680.437038 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 630.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.989812; longitude = -119.255598; captureRadius = 10; duration = 62; initialDepth = 639.760061; finalDepth = 630.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.437038 # Actual altitude: 50.437038 # Commanded vehicle depth:630 # Seafloor depth:-680.437038 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.75; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.17; MB_Bottom_Detect_Filter_Max_Range = 201.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 72 # Segment length 62.348219 meters # Minimum depth: 679.760061 meters looking forward 0.000000 meters along route # Maximum depth: 679.760061 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 630.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.990262; longitude = -119.255399; captureRadius = 10; duration = 62; initialDepth = 637.835446; finalDepth = 630.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.437038 # Actual altitude: 50.437038 # Commanded vehicle depth:630 # Seafloor depth:-679.760061 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.75; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.17; MB_Bottom_Detect_Filter_Max_Range = 201.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 72 # Segment length 62.348219 meters # Minimum depth: 677.835446 meters looking forward 0.000000 meters along route # Maximum depth: 677.835446 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 630.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.990713; longitude = -119.255200; captureRadius = 10; duration = 62; initialDepth = 636.970799; finalDepth = 630.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.760061 # Actual altitude: 50 # Commanded vehicle depth:630 # Seafloor depth:-677.835446 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 72 # Segment length 62.348219 meters # Minimum depth: 676.970799 meters looking forward 0.000000 meters along route # Maximum depth: 676.970799 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 630.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.991179; longitude = -119.254994; captureRadius = 10; duration = 62; initialDepth = 635.411524; finalDepth = 630.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.835446 # Actual altitude: 50 # Commanded vehicle depth:630 # Seafloor depth:-676.970799 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 72 # Segment length 62.348219 meters # Minimum depth: 675.411524 meters looking forward 0.000000 meters along route # Maximum depth: 675.411524 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 630.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.991615; longitude = -119.254802; captureRadius = 10; duration = 62; initialDepth = 633.054746; finalDepth = 630.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.9707990000001 # Actual altitude: 50 # Commanded vehicle depth:630 # Seafloor depth:-675.411524 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 72 # Segment length 62.348219 meters # Minimum depth: 673.054746 meters looking forward 0.000000 meters along route # Maximum depth: 673.054746 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 630.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.992066; longitude = -119.254603; captureRadius = 10; duration = 62; initialDepth = 630.074347; finalDepth = 630.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.411524 # Actual altitude: 50 # Commanded vehicle depth:630 # Seafloor depth:-673.054746 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 72 # Segment length 62.348219 meters # Minimum depth: 670.074347 meters looking forward 0.000000 meters along route # Maximum depth: 670.074347 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 630.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.992517; longitude = -119.254404; captureRadius = 10; duration = 62; initialDepth = 629.030845; finalDepth = 630.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.054746 # Actual altitude: 50 # Commanded vehicle depth:630 # Seafloor depth:-670.074347 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 72 # Segment length 62.348219 meters # Minimum depth: 669.030845 meters looking forward 0.000000 meters along route # Maximum depth: 669.030845 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 629.030845 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.992968; longitude = -119.254205; captureRadius = 10; duration = 62; initialDepth = 627.384226; finalDepth = 629.030845; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.074347 # Actual altitude: 50 # Commanded vehicle depth:629.030845 # Seafloor depth:-669.030845 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 72 # Segment length 62.348219 meters # Minimum depth: 667.384226 meters looking forward 0.000000 meters along route # Maximum depth: 667.384226 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 627.384226 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.993419; longitude = -119.254006; captureRadius = 10; duration = 62; initialDepth = 625.646057; finalDepth = 627.384226; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:627.384226 # Seafloor depth:-667.384226 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 72 # Segment length 62.348219 meters # Minimum depth: 665.646057 meters looking forward 0.000000 meters along route # Maximum depth: 665.646057 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 625.646057 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.993879; longitude = -119.253803; captureRadius = 10; duration = 62; initialDepth = 623.490862; finalDepth = 625.646057; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:625.646057 # Seafloor depth:-665.646057 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 72 # Segment length 62.348219 meters # Minimum depth: 663.490862 meters looking forward 0.000000 meters along route # Maximum depth: 663.490862 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 623.490862 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.994320; longitude = -119.253608; captureRadius = 10; duration = 62; initialDepth = 622.472966; finalDepth = 623.490862; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:623.490862 # Seafloor depth:-663.490862 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 72 # Segment length 62.348219 meters # Minimum depth: 662.472966 meters looking forward 0.000000 meters along route # Maximum depth: 662.472966 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 622.472966 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.994771; longitude = -119.253409; captureRadius = 10; duration = 62; initialDepth = 621.085641; finalDepth = 622.472966; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:622.472966 # Seafloor depth:-662.472966 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 72 # Segment length 62.348219 meters # Minimum depth: 661.085641 meters looking forward 0.000000 meters along route # Maximum depth: 661.085641 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 621.085641 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.995222; longitude = -119.253210; captureRadius = 10; duration = 62; initialDepth = 619.196614; finalDepth = 621.085641; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:621.085641 # Seafloor depth:-661.085641 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 72 # Segment length 62.348219 meters # Minimum depth: 659.196614 meters looking forward 0.000000 meters along route # Maximum depth: 659.196614 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 619.196614 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.995673; longitude = -119.253011; captureRadius = 10; duration = 62; initialDepth = 610.445615; finalDepth = 619.196614; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:619.196614 # Seafloor depth:-659.196614 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 72 # Segment length 62.348219 meters # Minimum depth: 650.445615 meters looking forward 0.000000 meters along route # Maximum depth: 650.445615 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 610.445615 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.996124; longitude = -119.252812; captureRadius = 10; duration = 62; initialDepth = 608.675107; finalDepth = 610.445615; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:610.445615 # Seafloor depth:-650.445615 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 72 # Segment length 62.348219 meters # Minimum depth: 648.675107 meters looking forward 0.000000 meters along route # Maximum depth: 648.675107 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 608.675107 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.996579; longitude = -119.252611; captureRadius = 10; duration = 62; initialDepth = 607.431356; finalDepth = 608.675107; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:608.675107 # Seafloor depth:-648.675107 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 72 # Segment length 62.348219 meters # Minimum depth: 647.431356 meters looking forward 0.000000 meters along route # Maximum depth: 647.431356 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 607.431356 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.997070; longitude = -119.252394; captureRadius = 10; duration = 62; initialDepth = 607.429886; finalDepth = 607.431356; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:607.431356 # Seafloor depth:-647.431356 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 71 # Segment length 62.348219 meters # Minimum depth: 647.429886 meters looking forward 0.000000 meters along route # Maximum depth: 647.429886 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 607.429886 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.997506; longitude = -119.252202; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 607.272485; finalDepth = 607.429886; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:607.429886 # Seafloor depth:-647.429886 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 62.348219 meters # Minimum depth: 647.272485 meters looking forward 0.000000 meters along route # Maximum depth: 647.272485 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 607.272485 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.997566; longitude = -119.252169; captureRadius = 10; duration = 62; initialDepth = 606.968632; finalDepth = 607.272485; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:607.272485 # Seafloor depth:-647.272485 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 62.348219 meters # Minimum depth: 646.968632 meters looking forward 0.000000 meters along route # Maximum depth: 646.968632 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 606.968632 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.998017; longitude = -119.251926; captureRadius = 10; duration = 62; initialDepth = 606.087580; finalDepth = 606.968632; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:606.968632 # Seafloor depth:-646.968632 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 62.348219 meters # Minimum depth: 646.087580 meters looking forward 0.000000 meters along route # Maximum depth: 646.087580 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 606.087580 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.998468; longitude = -119.251682; captureRadius = 10; duration = 62; initialDepth = 604.152230; finalDepth = 606.087580; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:606.08758 # Seafloor depth:-646.087580 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 62.348219 meters # Minimum depth: 644.152230 meters looking forward 0.000000 meters along route # Maximum depth: 644.152230 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 604.152230 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.998955; longitude = -119.251419; captureRadius = 10; duration = 62; initialDepth = 604.306597; finalDepth = 604.152230; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:604.15223 # Seafloor depth:-644.152230 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 62.348219 meters # Minimum depth: 644.306597 meters looking forward 0.000000 meters along route # Maximum depth: 644.306597 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 604.306597 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.999370; longitude = -119.251195; captureRadius = 10; duration = 62; initialDepth = 603.175496; finalDepth = 604.306597; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:604.306597 # Seafloor depth:-644.306597 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 62.348219 meters # Minimum depth: 643.175496 meters looking forward 0.000000 meters along route # Maximum depth: 643.175496 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 603.175496 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.999821; longitude = -119.250952; captureRadius = 10; duration = 62; initialDepth = 601.766350; finalDepth = 603.175496; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:603.175496 # Seafloor depth:-643.175496 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 62.348219 meters # Minimum depth: 641.766350 meters looking forward 0.000000 meters along route # Maximum depth: 641.766350 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 601.766350 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.000272; longitude = -119.250708; captureRadius = 10; duration = 62; initialDepth = 599.735913; finalDepth = 601.766350; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:601.76635 # Seafloor depth:-641.766350 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 62.348219 meters # Minimum depth: 639.735913 meters looking forward 0.000000 meters along route # Maximum depth: 639.735913 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 599.735913 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.000761; longitude = -119.250444; captureRadius = 10; duration = 62; initialDepth = 596.579884; finalDepth = 599.735913; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:599.735913 # Seafloor depth:-639.735913 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 62.348219 meters # Minimum depth: 636.579884 meters looking forward 0.000000 meters along route # Maximum depth: 636.579884 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 596.579884 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.001173; longitude = -119.250221; captureRadius = 10; duration = 62; initialDepth = 595.745802; finalDepth = 596.579884; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:596.579884 # Seafloor depth:-636.579884 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 62.348219 meters # Minimum depth: 635.745802 meters looking forward 0.000000 meters along route # Maximum depth: 635.745802 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 595.745802 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.001624; longitude = -119.249978; captureRadius = 10; duration = 62; initialDepth = 595.192591; finalDepth = 595.745802; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:595.745802 # Seafloor depth:-635.745802 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 62.348219 meters # Minimum depth: 635.192591 meters looking forward 0.000000 meters along route # Maximum depth: 635.192591 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 595.192591 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.002075; longitude = -119.249734; captureRadius = 10; duration = 62; initialDepth = 593.088959; finalDepth = 595.192591; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:595.192591 # Seafloor depth:-635.192591 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 62.348219 meters # Minimum depth: 633.088959 meters looking forward 0.000000 meters along route # Maximum depth: 633.088959 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 593.088959 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.002526; longitude = -119.249491; captureRadius = 10; duration = 62; initialDepth = 593.627072; finalDepth = 593.088959; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:593.088959 # Seafloor depth:-633.088959 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 62.348219 meters # Minimum depth: 633.627072 meters looking forward 0.000000 meters along route # Maximum depth: 633.627072 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 593.627072 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.002977; longitude = -119.249247; captureRadius = 10; duration = 62; initialDepth = 590.427519; finalDepth = 593.627072; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:593.627072 # Seafloor depth:-633.627072 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 62.348219 meters # Minimum depth: 630.427519 meters looking forward 0.000000 meters along route # Maximum depth: 630.427519 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 590.427519 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.003428; longitude = -119.249004; captureRadius = 10; duration = 62; initialDepth = 589.647470; finalDepth = 590.427519; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:590.427519 # Seafloor depth:-630.427519 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 62.348219 meters # Minimum depth: 629.647470 meters looking forward 0.000000 meters along route # Maximum depth: 629.647470 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 589.647470 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.003878; longitude = -119.248760; captureRadius = 10; duration = 62; initialDepth = 588.387083; finalDepth = 589.647470; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:589.64747 # Seafloor depth:-629.647470 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 62.348219 meters # Minimum depth: 628.387083 meters looking forward 0.000000 meters along route # Maximum depth: 628.387083 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 588.387083 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.004329; longitude = -119.248517; captureRadius = 10; duration = 62; initialDepth = 586.934310; finalDepth = 588.387083; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:588.387083 # Seafloor depth:-628.387083 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 62.348219 meters # Minimum depth: 626.934310 meters looking forward 0.000000 meters along route # Maximum depth: 626.934310 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 586.934310 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.004780; longitude = -119.248273; captureRadius = 10; duration = 62; initialDepth = 586.746684; finalDepth = 586.934310; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:586.93431 # Seafloor depth:-626.934310 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 62.348219 meters # Minimum depth: 626.746684 meters looking forward 0.000000 meters along route # Maximum depth: 626.746684 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 586.746684 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.005231; longitude = -119.248030; captureRadius = 10; duration = 62; initialDepth = 584.246515; finalDepth = 586.746684; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:586.746684 # Seafloor depth:-626.746684 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 62.348219 meters # Minimum depth: 624.246515 meters looking forward 0.000000 meters along route # Maximum depth: 624.246515 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 584.246515 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.005682; longitude = -119.247787; captureRadius = 10; duration = 62; initialDepth = 584.979051; finalDepth = 584.246515; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:584.246515 # Seafloor depth:-624.246515 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 62.348219 meters # Minimum depth: 624.979051 meters looking forward 0.000000 meters along route # Maximum depth: 624.979051 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 584.979051 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.006133; longitude = -119.247543; captureRadius = 10; duration = 62; initialDepth = 584.565779; finalDepth = 584.979051; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:584.979051 # Seafloor depth:-624.979051 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 62.348219 meters # Minimum depth: 624.565779 meters looking forward 0.000000 meters along route # Maximum depth: 624.565779 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 584.565779 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.006584; longitude = -119.247300; captureRadius = 10; duration = 62; initialDepth = 582.523039; finalDepth = 584.565779; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:584.565779 # Seafloor depth:-624.565779 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 62.348219 meters # Minimum depth: 622.523039 meters looking forward 0.000000 meters along route # Maximum depth: 622.523039 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 582.523039 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.007035; longitude = -119.247056; captureRadius = 10; duration = 62; initialDepth = 581.491403; finalDepth = 582.523039; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:582.523039 # Seafloor depth:-622.523039 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 62.348219 meters # Minimum depth: 621.491403 meters looking forward 0.000000 meters along route # Maximum depth: 621.491403 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 581.491403 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.007485; longitude = -119.246813; captureRadius = 10; duration = 62; initialDepth = 580.586153; finalDepth = 581.491403; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:581.491403 # Seafloor depth:-621.491403 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 62.348219 meters # Minimum depth: 620.586153 meters looking forward 0.000000 meters along route # Maximum depth: 620.586153 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 580.586153 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.007936; longitude = -119.246569; captureRadius = 10; duration = 62; initialDepth = 580.342045; finalDepth = 580.586153; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:580.586153 # Seafloor depth:-620.586153 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 62.348219 meters # Minimum depth: 620.342045 meters looking forward 0.000000 meters along route # Maximum depth: 620.342045 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 580.342045 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.008387; longitude = -119.246326; captureRadius = 10; duration = 62; initialDepth = 578.708313; finalDepth = 580.342045; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:580.342045 # Seafloor depth:-620.342045 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 62.348219 meters # Minimum depth: 618.708313 meters looking forward 0.000000 meters along route # Maximum depth: 618.708313 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 578.708313 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.008838; longitude = -119.246082; captureRadius = 10; duration = 62; initialDepth = 577.675230; finalDepth = 578.708313; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:578.708313 # Seafloor depth:-618.708313 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 62.348219 meters # Minimum depth: 617.675230 meters looking forward 0.000000 meters along route # Maximum depth: 617.675230 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 577.675230 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.009289; longitude = -119.245839; captureRadius = 10; duration = 62; initialDepth = 576.905880; finalDepth = 577.675230; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:577.67523 # Seafloor depth:-617.675230 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 62.348219 meters # Minimum depth: 616.905880 meters looking forward 0.000000 meters along route # Maximum depth: 616.905880 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 576.905880 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.009740; longitude = -119.245595; captureRadius = 10; duration = 62; initialDepth = 576.503540; finalDepth = 576.905880; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:576.90588 # Seafloor depth:-616.905880 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 62.348219 meters # Minimum depth: 616.503540 meters looking forward 0.000000 meters along route # Maximum depth: 616.503540 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 576.503540 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.010191; longitude = -119.245352; captureRadius = 10; duration = 62; initialDepth = 575.588330; finalDepth = 576.503540; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:576.50354 # Seafloor depth:-616.503540 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 62.348219 meters # Minimum depth: 615.588330 meters looking forward 0.000000 meters along route # Maximum depth: 615.588330 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 575.588330 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.010641; longitude = -119.245108; captureRadius = 10; duration = 62; initialDepth = 575.216511; finalDepth = 575.588330; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:575.58833 # Seafloor depth:-615.588330 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 62.348219 meters # Minimum depth: 615.216511 meters looking forward 0.000000 meters along route # Maximum depth: 615.216511 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 575.216511 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.011092; longitude = -119.244865; captureRadius = 10; duration = 62; initialDepth = 573.919930; finalDepth = 575.216511; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:575.216511 # Seafloor depth:-615.216511 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 62.348219 meters # Minimum depth: 613.919930 meters looking forward 0.000000 meters along route # Maximum depth: 613.919930 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 573.919930 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.011543; longitude = -119.244621; captureRadius = 10; duration = 62; initialDepth = 572.527757; finalDepth = 573.919930; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:573.91993 # Seafloor depth:-613.919930 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 62.348219 meters # Minimum depth: 612.527757 meters looking forward 0.000000 meters along route # Maximum depth: 612.527757 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 572.527757 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.011994; longitude = -119.244378; captureRadius = 10; duration = 62; initialDepth = 571.840590; finalDepth = 572.527757; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:572.527757 # Seafloor depth:-612.527757 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 62.348219 meters # Minimum depth: 611.840590 meters looking forward 0.000000 meters along route # Maximum depth: 611.840590 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 571.840590 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.012445; longitude = -119.244134; captureRadius = 10; duration = 62; initialDepth = 570.862885; finalDepth = 571.840590; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:571.84059 # Seafloor depth:-611.840590 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 70 # Segment length 62.348219 meters # Minimum depth: 610.862885 meters looking forward 0.000000 meters along route # Maximum depth: 610.862885 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 570.862885 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.012895; longitude = -119.243891; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 569.808525; finalDepth = 570.862885; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:570.862885 # Seafloor depth:-610.862885 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 70 # Segment length 62.348219 meters # Minimum depth: 609.808525 meters looking forward 0.000000 meters along route # Maximum depth: 609.808525 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 569.808525 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.013221; longitude = -119.243619; captureRadius = 10; duration = 62; initialDepth = 568.556926; finalDepth = 569.808525; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:569.808525 # Seafloor depth:-609.808525 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 70 # Segment length 62.348219 meters # Minimum depth: 608.556926 meters looking forward 0.000000 meters along route # Maximum depth: 608.556926 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 568.556926 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.013617; longitude = -119.243290; captureRadius = 10; duration = 62; initialDepth = 566.915881; finalDepth = 568.556926; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:568.556926 # Seafloor depth:-608.556926 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 70 # Segment length 62.348219 meters # Minimum depth: 606.915881 meters looking forward 0.000000 meters along route # Maximum depth: 606.915881 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 566.915881 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.014003; longitude = -119.242969; captureRadius = 10; duration = 62; initialDepth = 565.633810; finalDepth = 566.915881; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:566.915881 # Seafloor depth:-606.915881 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 70 # Segment length 62.348219 meters # Minimum depth: 605.633810 meters looking forward 0.000000 meters along route # Maximum depth: 605.633810 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 565.633810 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.014393; longitude = -119.242644; captureRadius = 10; duration = 62; initialDepth = 565.520059; finalDepth = 565.633810; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:565.63381 # Seafloor depth:-605.633810 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 70 # Segment length 62.348219 meters # Minimum depth: 605.520059 meters looking forward 0.000000 meters along route # Maximum depth: 605.520059 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 565.520059 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.014789; longitude = -119.242315; captureRadius = 10; duration = 62; initialDepth = 565.114676; finalDepth = 565.520059; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:565.520059 # Seafloor depth:-605.520059 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 70 # Segment length 62.348219 meters # Minimum depth: 605.114676 meters looking forward 0.000000 meters along route # Maximum depth: 605.114676 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 565.114676 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.015174; longitude = -119.241994; captureRadius = 10; duration = 62; initialDepth = 564.815757; finalDepth = 565.114676; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:565.114676 # Seafloor depth:-605.114676 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 70 # Segment length 62.348219 meters # Minimum depth: 604.815757 meters looking forward 0.000000 meters along route # Maximum depth: 604.815757 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 564.815757 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.015565; longitude = -119.241669; captureRadius = 10; duration = 62; initialDepth = 563.943461; finalDepth = 564.815757; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:564.815757 # Seafloor depth:-604.815757 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 70 # Segment length 62.348219 meters # Minimum depth: 603.943461 meters looking forward 0.000000 meters along route # Maximum depth: 603.943461 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 563.943461 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.015962; longitude = -119.241339; captureRadius = 10; duration = 62; initialDepth = 563.874515; finalDepth = 563.943461; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:563.943461 # Seafloor depth:-603.943461 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 70 # Segment length 62.348219 meters # Minimum depth: 603.874515 meters looking forward 0.000000 meters along route # Maximum depth: 603.874515 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 563.874515 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.016346; longitude = -119.241019; captureRadius = 10; duration = 62; initialDepth = 563.709966; finalDepth = 563.874515; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:563.874515 # Seafloor depth:-603.874515 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 70 # Segment length 62.348219 meters # Minimum depth: 603.709966 meters looking forward 0.000000 meters along route # Maximum depth: 603.709966 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 563.709966 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.016736; longitude = -119.240694; captureRadius = 10; duration = 62; initialDepth = 563.275058; finalDepth = 563.709966; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:563.709966 # Seafloor depth:-603.709966 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 70 # Segment length 62.348219 meters # Minimum depth: 603.275058 meters looking forward 0.000000 meters along route # Maximum depth: 603.275058 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 563.275058 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.017134; longitude = -119.240364; captureRadius = 10; duration = 62; initialDepth = 563.370728; finalDepth = 563.275058; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:563.275058 # Seafloor depth:-603.275058 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 69 # Segment length 62.348219 meters # Minimum depth: 603.370728 meters looking forward 0.000000 meters along route # Maximum depth: 603.370728 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 563.370728 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.017584; longitude = -119.239989; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 563.178970; finalDepth = 563.370728; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:563.370728 # Seafloor depth:-603.370728 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 62.348219 meters # Minimum depth: 603.178970 meters looking forward 0.000000 meters along route # Maximum depth: 603.178970 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 563.178970 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.017613; longitude = -119.239828; captureRadius = 10; duration = 62; initialDepth = 562.412555; finalDepth = 563.178970; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:563.17897 # Seafloor depth:-603.178970 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 62.348219 meters # Minimum depth: 602.412555 meters looking forward 0.000000 meters along route # Maximum depth: 602.412555 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 562.412555 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.017710; longitude = -119.239286; captureRadius = 10; duration = 62; initialDepth = 561.778398; finalDepth = 562.412555; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:562.412555 # Seafloor depth:-602.412555 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 62.348219 meters # Minimum depth: 601.778398 meters looking forward 0.000000 meters along route # Maximum depth: 601.778398 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 561.778398 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.017807; longitude = -119.238744; captureRadius = 10; duration = 62; initialDepth = 560.809584; finalDepth = 561.778398; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:561.778398 # Seafloor depth:-601.778398 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 62.348219 meters # Minimum depth: 600.809584 meters looking forward 0.000000 meters along route # Maximum depth: 600.809584 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 560.809584 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.017903; longitude = -119.238203; captureRadius = 10; duration = 62; initialDepth = 560.628084; finalDepth = 560.809584; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:560.809584 # Seafloor depth:-600.809584 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 62.348219 meters # Minimum depth: 600.628084 meters looking forward 0.000000 meters along route # Maximum depth: 600.628084 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 560.628084 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.018000; longitude = -119.237661; captureRadius = 10; duration = 62; initialDepth = 560.048695; finalDepth = 560.628084; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:560.628084 # Seafloor depth:-600.628084 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 62.348219 meters # Minimum depth: 600.048695 meters looking forward 0.000000 meters along route # Maximum depth: 600.048695 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 560.048695 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.018097; longitude = -119.237119; captureRadius = 10; duration = 62; initialDepth = 558.898781; finalDepth = 560.048695; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:560.048695 # Seafloor depth:-600.048695 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 62.348219 meters # Minimum depth: 598.898781 meters looking forward 0.000000 meters along route # Maximum depth: 598.898781 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 558.898781 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.018194; longitude = -119.236578; captureRadius = 10; duration = 62; initialDepth = 557.639904; finalDepth = 558.898781; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:558.898781 # Seafloor depth:-598.898781 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 62.348219 meters # Minimum depth: 597.639904 meters looking forward 0.000000 meters along route # Maximum depth: 597.639904 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 557.639904 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.018291; longitude = -119.236036; captureRadius = 10; duration = 62; initialDepth = 557.077308; finalDepth = 557.639904; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:557.639904 # Seafloor depth:-597.639904 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 62.348219 meters # Minimum depth: 597.077308 meters looking forward 0.000000 meters along route # Maximum depth: 597.077308 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 557.077308 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.018388; longitude = -119.235494; captureRadius = 10; duration = 62; initialDepth = 556.220814; finalDepth = 557.077308; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:557.077308 # Seafloor depth:-597.077308 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 62.348219 meters # Minimum depth: 596.220814 meters looking forward 0.000000 meters along route # Maximum depth: 596.220814 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 556.220814 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.018486; longitude = -119.234943; captureRadius = 10; duration = 62; initialDepth = 556.099077; finalDepth = 556.220814; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:556.220814 # Seafloor depth:-596.220814 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 62.348219 meters # Minimum depth: 596.099077 meters looking forward 0.000000 meters along route # Maximum depth: 596.099077 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 556.099077 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.018582; longitude = -119.234411; captureRadius = 10; duration = 62; initialDepth = 555.568498; finalDepth = 556.099077; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:556.099077 # Seafloor depth:-596.099077 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 62.348219 meters # Minimum depth: 595.568498 meters looking forward 0.000000 meters along route # Maximum depth: 595.568498 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 555.568498 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.018678; longitude = -119.233869; captureRadius = 10; duration = 62; initialDepth = 555.245584; finalDepth = 555.568498; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:555.568498 # Seafloor depth:-595.568498 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 62.348219 meters # Minimum depth: 595.245584 meters looking forward 0.000000 meters along route # Maximum depth: 595.245584 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 555.245584 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.018775; longitude = -119.233328; captureRadius = 10; duration = 62; initialDepth = 554.887535; finalDepth = 555.245584; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:555.245584 # Seafloor depth:-595.245584 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 62.348219 meters # Minimum depth: 594.887535 meters looking forward 0.000000 meters along route # Maximum depth: 594.887535 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 554.887535 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.018872; longitude = -119.232786; captureRadius = 10; duration = 62; initialDepth = 554.397537; finalDepth = 554.887535; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:554.887535 # Seafloor depth:-594.887535 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 68 # Segment length 62.348219 meters # Minimum depth: 594.397537 meters looking forward 0.000000 meters along route # Maximum depth: 594.397537 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 554.397537 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.018967; longitude = -119.232256; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 553.628007; finalDepth = 554.397537; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:554.397537 # Seafloor depth:-594.397537 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 68 # Segment length 62.348219 meters # Minimum depth: 593.628007 meters looking forward 0.000000 meters along route # Maximum depth: 593.628007 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 553.628007 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.019208; longitude = -119.231838; captureRadius = 10; duration = 62; initialDepth = 552.910220; finalDepth = 553.628007; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:553.628007 # Seafloor depth:-593.628007 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 68 # Segment length 62.348219 meters # Minimum depth: 592.910220 meters looking forward 0.000000 meters along route # Maximum depth: 592.910220 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 552.910220 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.019478; longitude = -119.231368; captureRadius = 10; duration = 62; initialDepth = 552.891903; finalDepth = 552.910220; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:552.91022 # Seafloor depth:-592.910220 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 68 # Segment length 62.348219 meters # Minimum depth: 592.891903 meters looking forward 0.000000 meters along route # Maximum depth: 592.891903 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 552.891903 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.019749; longitude = -119.230898; captureRadius = 10; duration = 62; initialDepth = 552.191902; finalDepth = 552.891903; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:552.891903 # Seafloor depth:-592.891903 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 68 # Segment length 62.348219 meters # Minimum depth: 592.191902 meters looking forward 0.000000 meters along route # Maximum depth: 592.191902 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 552.191902 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.020019; longitude = -119.230429; captureRadius = 10; duration = 62; initialDepth = 551.784325; finalDepth = 552.191902; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:552.191902 # Seafloor depth:-592.191902 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 68 # Segment length 62.348219 meters # Minimum depth: 591.784325 meters looking forward 0.000000 meters along route # Maximum depth: 591.784325 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 551.784325 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.020290; longitude = -119.229959; captureRadius = 10; duration = 62; initialDepth = 551.628835; finalDepth = 551.784325; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:551.784325 # Seafloor depth:-591.784325 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 68 # Segment length 62.348219 meters # Minimum depth: 591.628835 meters looking forward 0.000000 meters along route # Maximum depth: 591.628835 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 551.628835 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.020560; longitude = -119.229489; captureRadius = 10; duration = 62; initialDepth = 551.179275; finalDepth = 551.628835; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:551.628835 # Seafloor depth:-591.628835 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 68 # Segment length 62.348219 meters # Minimum depth: 591.179275 meters looking forward 0.000000 meters along route # Maximum depth: 591.179275 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 551.179275 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.020831; longitude = -119.229019; captureRadius = 10; duration = 62; initialDepth = 550.137737; finalDepth = 551.179275; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:551.179275 # Seafloor depth:-591.179275 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 68 # Segment length 62.348219 meters # Minimum depth: 590.137737 meters looking forward 0.000000 meters along route # Maximum depth: 590.137737 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 550.137737 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.021101; longitude = -119.228549; captureRadius = 10; duration = 62; initialDepth = 549.708049; finalDepth = 550.137737; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:550.137737 # Seafloor depth:-590.137737 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 68 # Segment length 62.348219 meters # Minimum depth: 589.708049 meters looking forward 0.000000 meters along route # Maximum depth: 589.708049 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 549.708049 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.021372; longitude = -119.228080; captureRadius = 10; duration = 62; initialDepth = 549.147761; finalDepth = 549.708049; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:549.708049 # Seafloor depth:-589.708049 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 68 # Segment length 62.348219 meters # Minimum depth: 589.147761 meters looking forward 0.000000 meters along route # Maximum depth: 589.147761 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 549.147761 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.021656; longitude = -119.227586; captureRadius = 10; duration = 62; initialDepth = 548.477456; finalDepth = 549.147761; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:549.147761 # Seafloor depth:-589.147761 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 68 # Segment length 62.348219 meters # Minimum depth: 588.477456 meters looking forward 0.000000 meters along route # Maximum depth: 588.477456 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 548.477456 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.021913; longitude = -119.227140; captureRadius = 10; duration = 62; initialDepth = 547.661652; finalDepth = 548.477456; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:548.477456 # Seafloor depth:-588.477456 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 67 # Segment length 62.348219 meters # Minimum depth: 587.661652 meters looking forward 0.000000 meters along route # Maximum depth: 587.661652 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 547.661652 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.022213; longitude = -119.226619; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 547.580101; finalDepth = 547.661652; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:547.661652 # Seafloor depth:-587.661652 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 62.348219 meters # Minimum depth: 587.580101 meters looking forward 0.000000 meters along route # Maximum depth: 587.580101 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 547.580101 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.022217; longitude = -119.226611; captureRadius = 10; duration = 62; initialDepth = 547.663372; finalDepth = 547.580101; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:547.580101 # Seafloor depth:-587.580101 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 62.348219 meters # Minimum depth: 587.663372 meters looking forward 0.000000 meters along route # Maximum depth: 587.663372 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 547.663372 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.022480; longitude = -119.226069; captureRadius = 10; duration = 62; initialDepth = 546.389682; finalDepth = 547.663372; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:547.663372 # Seafloor depth:-587.663372 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 62.348219 meters # Minimum depth: 586.389682 meters looking forward 0.000000 meters along route # Maximum depth: 586.389682 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 546.389682 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.022724; longitude = -119.225566; captureRadius = 10; duration = 62; initialDepth = 546.246013; finalDepth = 546.389682; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:546.389682 # Seafloor depth:-586.389682 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 62.348219 meters # Minimum depth: 586.246013 meters looking forward 0.000000 meters along route # Maximum depth: 586.246013 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 546.246013 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.022953; longitude = -119.225094; captureRadius = 10; duration = 62; initialDepth = 545.107295; finalDepth = 546.246013; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:546.246013 # Seafloor depth:-586.246013 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 62.348219 meters # Minimum depth: 585.107295 meters looking forward 0.000000 meters along route # Maximum depth: 585.107295 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 545.107295 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.023216; longitude = -119.224553; captureRadius = 10; duration = 62; initialDepth = 543.633820; finalDepth = 545.107295; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:545.107295 # Seafloor depth:-585.107295 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 66 # Segment length 62.348219 meters # Minimum depth: 583.633820 meters looking forward 0.000000 meters along route # Maximum depth: 583.633820 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 543.633820 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.023476; longitude = -119.224018; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 542.608252; finalDepth = 543.633820; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:543.63382 # Seafloor depth:-583.633820 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 62.348219 meters # Minimum depth: 582.608252 meters looking forward 0.000000 meters along route # Maximum depth: 582.608252 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 542.608252 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.023629; longitude = -119.223686; captureRadius = 10; duration = 62; initialDepth = 538.726518; finalDepth = 542.608252; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:542.608252 # Seafloor depth:-582.608252 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 62.348219 meters # Minimum depth: 578.726518 meters looking forward 0.000000 meters along route # Maximum depth: 578.726518 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 538.726518 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.023897; longitude = -119.223107; captureRadius = 10; duration = 62; initialDepth = 540.380025; finalDepth = 538.726518; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:538.726518 # Seafloor depth:-578.726518 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 62.348219 meters # Minimum depth: 580.380025 meters looking forward 0.000000 meters along route # Maximum depth: 580.380025 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 540.380025 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.024130; longitude = -119.222603; captureRadius = 10; duration = 62; initialDepth = 541.517014; finalDepth = 540.380025; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:540.380025 # Seafloor depth:-580.380025 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 65 # Segment length 62.348219 meters # Minimum depth: 581.517014 meters looking forward 0.000000 meters along route # Maximum depth: 581.517014 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 541.517014 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.024377; longitude = -119.222067; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 539.847970; finalDepth = 541.517014; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:541.517014 # Seafloor depth:-581.517014 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 62.348219 meters # Minimum depth: 579.847970 meters looking forward 0.000000 meters along route # Maximum depth: 579.847970 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 539.847970 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.024708; longitude = -119.221967; captureRadius = 10; duration = 62; initialDepth = 539.128210; finalDepth = 539.847970; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:539.84797 # Seafloor depth:-579.847970 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 62.348219 meters # Minimum depth: 579.128210 meters looking forward 0.000000 meters along route # Maximum depth: 579.128210 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 539.128210 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.025159; longitude = -119.221832; captureRadius = 10; duration = 62; initialDepth = 539.535091; finalDepth = 539.128210; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:539.12821 # Seafloor depth:-579.128210 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 62.348219 meters # Minimum depth: 579.535091 meters looking forward 0.000000 meters along route # Maximum depth: 579.535091 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 539.535091 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.025610; longitude = -119.221697; captureRadius = 10; duration = 62; initialDepth = 538.334717; finalDepth = 539.535091; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:539.535091 # Seafloor depth:-579.535091 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 64 # Segment length 62.348219 meters # Minimum depth: 578.334717 meters looking forward 0.000000 meters along route # Maximum depth: 578.334717 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 538.334717 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.026061; longitude = -119.221561; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 538.011664; finalDepth = 538.334717; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:538.334717 # Seafloor depth:-578.334717 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 64 # Segment length 62.348219 meters # Minimum depth: 578.011664 meters looking forward 0.000000 meters along route # Maximum depth: 578.011664 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 538.011664 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.026241; longitude = -119.221690; captureRadius = 10; duration = 62; initialDepth = 534.879086; finalDepth = 538.011664; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:538.011664 # Seafloor depth:-578.011664 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 64 # Segment length 62.348219 meters # Minimum depth: 574.879086 meters looking forward 0.000000 meters along route # Maximum depth: 574.879086 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 534.879086 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.026692; longitude = -119.222014; captureRadius = 10; duration = 62; initialDepth = 534.151784; finalDepth = 534.879086; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:534.879086 # Seafloor depth:-574.879086 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 64 # Segment length 62.348219 meters # Minimum depth: 574.151784 meters looking forward 0.000000 meters along route # Maximum depth: 574.151784 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 534.151784 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.027143; longitude = -119.222337; captureRadius = 10; duration = 62; initialDepth = 533.337025; finalDepth = 534.151784; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:534.151784 # Seafloor depth:-574.151784 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 64 # Segment length 62.348219 meters # Minimum depth: 573.337025 meters looking forward 0.000000 meters along route # Maximum depth: 573.337025 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 533.337025 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.027594; longitude = -119.222661; captureRadius = 10; duration = 62; initialDepth = 531.076707; finalDepth = 533.337025; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:533.337025 # Seafloor depth:-573.337025 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 64 # Segment length 62.348219 meters # Minimum depth: 571.076707 meters looking forward 0.000000 meters along route # Maximum depth: 571.076707 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 531.076707 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.028045; longitude = -119.222984; captureRadius = 10; duration = 62; initialDepth = 529.247462; finalDepth = 531.076707; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:531.076707 # Seafloor depth:-571.076707 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 64 # Segment length 62.348219 meters # Minimum depth: 569.247462 meters looking forward 0.000000 meters along route # Maximum depth: 569.247462 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 529.247462 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.028495; longitude = -119.223308; captureRadius = 10; duration = 62; initialDepth = 528.897765; finalDepth = 529.247462; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:529.247462 # Seafloor depth:-569.247462 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 64 # Segment length 62.348219 meters # Minimum depth: 568.897765 meters looking forward 0.000000 meters along route # Maximum depth: 568.897765 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 528.897765 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.028946; longitude = -119.223631; captureRadius = 10; duration = 62; initialDepth = 527.611163; finalDepth = 528.897765; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:528.897765 # Seafloor depth:-568.897765 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 64 # Segment length 62.348219 meters # Minimum depth: 567.611163 meters looking forward 0.000000 meters along route # Maximum depth: 567.611163 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 527.611163 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.029397; longitude = -119.223955; captureRadius = 10; duration = 62; initialDepth = 527.093735; finalDepth = 527.611163; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:527.611163 # Seafloor depth:-567.611163 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 63 # Segment length 62.348219 meters # Minimum depth: 567.093735 meters looking forward 0.000000 meters along route # Maximum depth: 567.093735 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 527.093735 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.029788; longitude = -119.224235; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 527.110828; finalDepth = 527.093735; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:527.093735 # Seafloor depth:-567.093735 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 62.348219 meters # Minimum depth: 567.110828 meters looking forward 0.000000 meters along route # Maximum depth: 567.110828 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 527.110828 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.029875; longitude = -119.224336; captureRadius = 10; duration = 62; initialDepth = 526.545922; finalDepth = 527.110828; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:527.110828 # Seafloor depth:-567.110828 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 62.348219 meters # Minimum depth: 566.545922 meters looking forward 0.000000 meters along route # Maximum depth: 566.545922 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 526.545922 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.030209; longitude = -119.224726; captureRadius = 10; duration = 62; initialDepth = 525.440261; finalDepth = 526.545922; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:526.545922 # Seafloor depth:-566.545922 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 62.348219 meters # Minimum depth: 565.440261 meters looking forward 0.000000 meters along route # Maximum depth: 565.440261 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 525.440261 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.030569; longitude = -119.225146; captureRadius = 10; duration = 62; initialDepth = 525.405255; finalDepth = 525.440261; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:525.440261 # Seafloor depth:-565.440261 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 62.348219 meters # Minimum depth: 565.405255 meters looking forward 0.000000 meters along route # Maximum depth: 565.405255 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 525.405255 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.030930; longitude = -119.225567; captureRadius = 10; duration = 62; initialDepth = 523.346456; finalDepth = 525.405255; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:525.405255 # Seafloor depth:-565.405255 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 62.348219 meters # Minimum depth: 563.346456 meters looking forward 0.000000 meters along route # Maximum depth: 563.346456 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 523.346456 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.031291; longitude = -119.225988; captureRadius = 10; duration = 62; initialDepth = 523.120637; finalDepth = 523.346456; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:523.346456 # Seafloor depth:-563.346456 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 62.348219 meters # Minimum depth: 563.120637 meters looking forward 0.000000 meters along route # Maximum depth: 563.120637 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 523.120637 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.031651; longitude = -119.226409; captureRadius = 10; duration = 62; initialDepth = 521.737494; finalDepth = 523.120637; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:523.120637 # Seafloor depth:-563.120637 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 62.348219 meters # Minimum depth: 561.737494 meters looking forward 0.000000 meters along route # Maximum depth: 561.737494 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 521.737494 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.032012; longitude = -119.226829; captureRadius = 10; duration = 62; initialDepth = 520.655132; finalDepth = 521.737494; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:521.737494 # Seafloor depth:-561.737494 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 62.348219 meters # Minimum depth: 560.655132 meters looking forward 0.000000 meters along route # Maximum depth: 560.655132 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 520.655132 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.032382; longitude = -119.227261; captureRadius = 10; duration = 62; initialDepth = 519.556405; finalDepth = 520.655132; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:520.655132 # Seafloor depth:-560.655132 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 62.348219 meters # Minimum depth: 559.556405 meters looking forward 0.000000 meters along route # Maximum depth: 559.556405 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 519.556405 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.032754; longitude = -119.227694; captureRadius = 10; duration = 62; initialDepth = 521.005025; finalDepth = 519.556405; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:519.556405 # Seafloor depth:-559.556405 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 62.348219 meters # Minimum depth: 561.005025 meters looking forward 0.000000 meters along route # Maximum depth: 561.005025 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 521.005025 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.033125; longitude = -119.228128; captureRadius = 10; duration = 62; initialDepth = 516.809188; finalDepth = 521.005025; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:521.005025 # Seafloor depth:-561.005025 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 62.348219 meters # Minimum depth: 556.809188 meters looking forward 0.000000 meters along route # Maximum depth: 556.809188 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 516.809188 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.033455; longitude = -119.228512; captureRadius = 10; duration = 62; initialDepth = 518.442703; finalDepth = 516.809188; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:516.809188 # Seafloor depth:-556.809188 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 62 # Segment length 62.348219 meters # Minimum depth: 558.442703 meters looking forward 0.000000 meters along route # Maximum depth: 558.442703 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 518.442703 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.033815; longitude = -119.228932; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 514.680729; finalDepth = 518.442703; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:518.442703 # Seafloor depth:-558.442703 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 62.348219 meters # Minimum depth: 554.680729 meters looking forward 0.000000 meters along route # Maximum depth: 554.680729 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 514.680729 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.033906; longitude = -119.229034; captureRadius = 10; duration = 62; initialDepth = 513.192145; finalDepth = 514.680729; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:514.680729 # Seafloor depth:-554.680729 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 62.348219 meters # Minimum depth: 553.192145 meters looking forward 0.000000 meters along route # Maximum depth: 553.192145 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 513.192145 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.034266; longitude = -119.229440; captureRadius = 10; duration = 62; initialDepth = 509.821709; finalDepth = 513.192145; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:513.192145 # Seafloor depth:-553.192145 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 62.348219 meters # Minimum depth: 549.821709 meters looking forward 0.000000 meters along route # Maximum depth: 549.821709 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 509.821709 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.034641; longitude = -119.229861; captureRadius = 10; duration = 62; initialDepth = 508.804292; finalDepth = 509.821709; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:509.821709 # Seafloor depth:-549.821709 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 62.348219 meters # Minimum depth: 548.804292 meters looking forward 0.000000 meters along route # Maximum depth: 548.804292 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 508.804292 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.034988; longitude = -119.230251; captureRadius = 10; duration = 62; initialDepth = 508.442581; finalDepth = 508.804292; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:508.804292 # Seafloor depth:-548.804292 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 62.348219 meters # Minimum depth: 548.442581 meters looking forward 0.000000 meters along route # Maximum depth: 548.442581 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 508.442581 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.035349; longitude = -119.230656; captureRadius = 10; duration = 62; initialDepth = 507.733458; finalDepth = 508.442581; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:508.442581 # Seafloor depth:-548.442581 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 62.348219 meters # Minimum depth: 547.733458 meters looking forward 0.000000 meters along route # Maximum depth: 547.733458 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 507.733458 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.035709; longitude = -119.231061; captureRadius = 10; duration = 62; initialDepth = 503.968634; finalDepth = 507.733458; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:507.733458 # Seafloor depth:-547.733458 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 62.348219 meters # Minimum depth: 543.968634 meters looking forward 0.000000 meters along route # Maximum depth: 543.968634 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 503.968634 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.036087; longitude = -119.231486; captureRadius = 10; duration = 62; initialDepth = 506.328722; finalDepth = 503.968634; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:503.968634 # Seafloor depth:-543.968634 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 62.348219 meters # Minimum depth: 546.328722 meters looking forward 0.000000 meters along route # Maximum depth: 546.328722 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 506.328722 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.036431; longitude = -119.231872; captureRadius = 10; duration = 62; initialDepth = 508.170299; finalDepth = 506.328722; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:506.328722 # Seafloor depth:-546.328722 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 62.348219 meters # Minimum depth: 548.170299 meters looking forward 0.000000 meters along route # Maximum depth: 548.170299 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 508.170299 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.036791; longitude = -119.232278; captureRadius = 10; duration = 62; initialDepth = 506.917756; finalDepth = 508.170299; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:508.170299 # Seafloor depth:-548.170299 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 62.348219 meters # Minimum depth: 546.917756 meters looking forward 0.000000 meters along route # Maximum depth: 546.917756 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 506.917756 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.037152; longitude = -119.232683; captureRadius = 10; duration = 62; initialDepth = 506.882568; finalDepth = 506.917756; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:506.917756 # Seafloor depth:-546.917756 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 61 # Segment length 62.348219 meters # Minimum depth: 546.882568 meters looking forward 0.000000 meters along route # Maximum depth: 546.882568 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 506.882568 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.037543; longitude = -119.233123; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 505.597726; finalDepth = 506.882568; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:506.882568 # Seafloor depth:-546.882568 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 62.348219 meters # Minimum depth: 545.597726 meters looking forward 0.000000 meters along route # Maximum depth: 545.597726 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 505.597726 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.037964; longitude = -119.233453; captureRadius = 10; duration = 62; initialDepth = 504.443592; finalDepth = 505.597726; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:505.597726 # Seafloor depth:-545.597726 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 62.348219 meters # Minimum depth: 544.443592 meters looking forward 0.000000 meters along route # Maximum depth: 544.443592 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 504.443592 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.038357; longitude = -119.233761; captureRadius = 10; duration = 62; initialDepth = 503.708631; finalDepth = 504.443592; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:504.443592 # Seafloor depth:-544.443592 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 62.348219 meters # Minimum depth: 543.708631 meters looking forward 0.000000 meters along route # Maximum depth: 543.708631 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 503.708631 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.038775; longitude = -119.234089; captureRadius = 10; duration = 62; initialDepth = 502.772550; finalDepth = 503.708631; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:503.708631 # Seafloor depth:-543.708631 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 62.348219 meters # Minimum depth: 542.772550 meters looking forward 0.000000 meters along route # Maximum depth: 542.772550 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 502.772550 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.039186; longitude = -119.234411; captureRadius = 10; duration = 62; initialDepth = 500.337148; finalDepth = 502.772550; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:502.77255 # Seafloor depth:-542.772550 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 62.348219 meters # Minimum depth: 540.337148 meters looking forward 0.000000 meters along route # Maximum depth: 540.337148 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 500.337148 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.039600; longitude = -119.234736; captureRadius = 10; duration = 62; initialDepth = 498.881743; finalDepth = 500.337148; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:500.337148 # Seafloor depth:-540.337148 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 62.348219 meters # Minimum depth: 538.881743 meters looking forward 0.000000 meters along route # Maximum depth: 538.881743 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 498.881743 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.040038; longitude = -119.235079; captureRadius = 10; duration = 62; initialDepth = 498.616941; finalDepth = 498.881743; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:498.881743 # Seafloor depth:-538.881743 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 62.348219 meters # Minimum depth: 538.616941 meters looking forward 0.000000 meters along route # Maximum depth: 538.616941 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 498.616941 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.040429; longitude = -119.235386; captureRadius = 10; duration = 62; initialDepth = 496.907969; finalDepth = 498.616941; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:498.616941 # Seafloor depth:-538.616941 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 62.348219 meters # Minimum depth: 536.907969 meters looking forward 0.000000 meters along route # Maximum depth: 536.907969 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 496.907969 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.040849; longitude = -119.235715; captureRadius = 10; duration = 62; initialDepth = 494.390310; finalDepth = 496.907969; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:496.907969 # Seafloor depth:-536.907969 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 62.348219 meters # Minimum depth: 534.390310 meters looking forward 0.000000 meters along route # Maximum depth: 534.390310 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 494.390310 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.041258; longitude = -119.236036; captureRadius = 10; duration = 62; initialDepth = 493.573100; finalDepth = 494.390310; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:494.39031 # Seafloor depth:-534.390310 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 62.348219 meters # Minimum depth: 533.573100 meters looking forward 0.000000 meters along route # Maximum depth: 533.573100 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 493.573100 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.041673; longitude = -119.236361; captureRadius = 10; duration = 62; initialDepth = 492.418536; finalDepth = 493.573100; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:493.5731 # Seafloor depth:-533.573100 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 62.348219 meters # Minimum depth: 532.418536 meters looking forward 0.000000 meters along route # Maximum depth: 532.418536 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 492.418536 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.042111; longitude = -119.236705; captureRadius = 10; duration = 62; initialDepth = 491.347864; finalDepth = 492.418536; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:492.418536 # Seafloor depth:-532.418536 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 62.348219 meters # Minimum depth: 531.347864 meters looking forward 0.000000 meters along route # Maximum depth: 531.347864 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 491.347864 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.042502; longitude = -119.237011; captureRadius = 10; duration = 62; initialDepth = 490.523740; finalDepth = 491.347864; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:491.347864 # Seafloor depth:-531.347864 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 62.348219 meters # Minimum depth: 530.523740 meters looking forward 0.000000 meters along route # Maximum depth: 530.523740 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 490.523740 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.042923; longitude = -119.237341; captureRadius = 10; duration = 62; initialDepth = 489.417701; finalDepth = 490.523740; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:490.52374 # Seafloor depth:-530.523740 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 62.348219 meters # Minimum depth: 529.417701 meters looking forward 0.000000 meters along route # Maximum depth: 529.417701 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 489.417701 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.043331; longitude = -119.237661; captureRadius = 10; duration = 62; initialDepth = 488.232745; finalDepth = 489.417701; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:489.417701 # Seafloor depth:-529.417701 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 62.348219 meters # Minimum depth: 528.232745 meters looking forward 0.000000 meters along route # Maximum depth: 528.232745 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 488.232745 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.043745; longitude = -119.237986; captureRadius = 10; duration = 62; initialDepth = 487.483919; finalDepth = 488.232745; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:488.232745 # Seafloor depth:-528.232745 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 62.348219 meters # Minimum depth: 527.483919 meters looking forward 0.000000 meters along route # Maximum depth: 527.483919 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 487.483919 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.044185; longitude = -119.238331; captureRadius = 10; duration = 62; initialDepth = 487.030592; finalDepth = 487.483919; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:487.483919 # Seafloor depth:-527.483919 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 62.348219 meters # Minimum depth: 527.030592 meters looking forward 0.000000 meters along route # Maximum depth: 527.030592 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 487.030592 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.044574; longitude = -119.238636; captureRadius = 10; duration = 62; initialDepth = 486.046622; finalDepth = 487.030592; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:487.030592 # Seafloor depth:-527.030592 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 62.348219 meters # Minimum depth: 526.046622 meters looking forward 0.000000 meters along route # Maximum depth: 526.046622 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 486.046622 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.044997; longitude = -119.238968; captureRadius = 10; duration = 62; initialDepth = 485.038829; finalDepth = 486.046622; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:486.046622 # Seafloor depth:-526.046622 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 62.348219 meters # Minimum depth: 525.038829 meters looking forward 0.000000 meters along route # Maximum depth: 525.038829 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 485.038829 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.045448; longitude = -119.239321; captureRadius = 10; duration = 62; initialDepth = 484.097122; finalDepth = 485.038829; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:485.038829 # Seafloor depth:-525.038829 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 60 # Segment length 62.348219 meters # Minimum depth: 524.097122 meters looking forward 0.000000 meters along route # Maximum depth: 524.097122 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 484.097122 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.045838; longitude = -119.239627; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 483.582824; finalDepth = 484.097122; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:484.097122 # Seafloor depth:-524.097122 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 60 # Segment length 62.348219 meters # Minimum depth: 523.582824 meters looking forward 0.000000 meters along route # Maximum depth: 523.582824 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 483.582824 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.046169; longitude = -119.239985; captureRadius = 10; duration = 62; initialDepth = 481.814337; finalDepth = 483.582824; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:483.582824 # Seafloor depth:-523.582824 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 60 # Segment length 62.348219 meters # Minimum depth: 521.814337 meters looking forward 0.000000 meters along route # Maximum depth: 521.814337 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 481.814337 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.046530; longitude = -119.240375; captureRadius = 10; duration = 62; initialDepth = 480.919160; finalDepth = 481.814337; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:481.814337 # Seafloor depth:-521.814337 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 60 # Segment length 62.348219 meters # Minimum depth: 520.919160 meters looking forward 0.000000 meters along route # Maximum depth: 520.919160 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 480.919160 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.046891; longitude = -119.240765; captureRadius = 10; duration = 62; initialDepth = 479.614719; finalDepth = 480.919160; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:480.91916 # Seafloor depth:-520.919160 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 60 # Segment length 62.348219 meters # Minimum depth: 519.614719 meters looking forward 0.000000 meters along route # Maximum depth: 519.614719 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 479.614719 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.047251; longitude = -119.241155; captureRadius = 10; duration = 62; initialDepth = 478.389633; finalDepth = 479.614719; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:479.614719 # Seafloor depth:-519.614719 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 59 # Segment length 62.348219 meters # Minimum depth: 518.389633 meters looking forward 0.000000 meters along route # Maximum depth: 518.389633 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 478.389633 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.047642; longitude = -119.241578; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 478.249164; finalDepth = 478.389633; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:478.389633 # Seafloor depth:-518.389633 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 62.348219 meters # Minimum depth: 518.249164 meters looking forward 0.000000 meters along route # Maximum depth: 518.249164 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 478.249164 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.047702; longitude = -119.241723; captureRadius = 10; duration = 62; initialDepth = 477.789924; finalDepth = 478.249164; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:478.249164 # Seafloor depth:-518.249164 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 62.348219 meters # Minimum depth: 517.789924 meters looking forward 0.000000 meters along route # Maximum depth: 517.789924 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 477.789924 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.047905; longitude = -119.242211; captureRadius = 10; duration = 62; initialDepth = 475.754670; finalDepth = 477.789924; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:477.789924 # Seafloor depth:-517.789924 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 62.348219 meters # Minimum depth: 515.754670 meters looking forward 0.000000 meters along route # Maximum depth: 515.754670 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 475.754670 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.048131; longitude = -119.242753; captureRadius = 10; duration = 62; initialDepth = 473.413316; finalDepth = 475.754670; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:475.75467 # Seafloor depth:-515.754670 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 62.348219 meters # Minimum depth: 513.413316 meters looking forward 0.000000 meters along route # Maximum depth: 513.413316 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 473.413316 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.048333; longitude = -119.243240; captureRadius = 10; duration = 62; initialDepth = 472.406319; finalDepth = 473.413316; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:473.413316 # Seafloor depth:-513.413316 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 58 # Segment length 62.348219 meters # Minimum depth: 512.406319 meters looking forward 0.000000 meters along route # Maximum depth: 512.406319 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 472.406319 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.048544; longitude = -119.243746; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 470.628548; finalDepth = 472.406319; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:472.406319 # Seafloor depth:-512.406319 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 58 # Segment length 62.348219 meters # Minimum depth: 510.628548 meters looking forward 0.000000 meters along route # Maximum depth: 510.628548 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 470.628548 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.048527; longitude = -119.243836; captureRadius = 10; duration = 62; initialDepth = 468.622880; finalDepth = 470.628548; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:470.628548 # Seafloor depth:-510.628548 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 58 # Segment length 62.348219 meters # Minimum depth: 508.622880 meters looking forward 0.000000 meters along route # Maximum depth: 508.622880 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 468.622880 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.048423; longitude = -119.244378; captureRadius = 10; duration = 62; initialDepth = 466.697031; finalDepth = 468.622880; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:468.62288 # Seafloor depth:-508.622880 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 58 # Segment length 62.348219 meters # Minimum depth: 506.697031 meters looking forward 0.000000 meters along route # Maximum depth: 506.697031 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 466.697031 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.048318; longitude = -119.244919; captureRadius = 10; duration = 62; initialDepth = 468.154128; finalDepth = 466.697031; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:466.697031 # Seafloor depth:-506.697031 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 58 # Segment length 62.348219 meters # Minimum depth: 508.154128 meters looking forward 0.000000 meters along route # Maximum depth: 508.154128 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 468.154128 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.048214; longitude = -119.245461; captureRadius = 10; duration = 62; initialDepth = 467.019336; finalDepth = 468.154128; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:468.154128 # Seafloor depth:-508.154128 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 58 # Segment length 62.348219 meters # Minimum depth: 507.019336 meters looking forward 0.000000 meters along route # Maximum depth: 507.019336 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 467.019336 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.048110; longitude = -119.246003; captureRadius = 10; duration = 62; initialDepth = 468.949417; finalDepth = 467.019336; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:467.019336 # Seafloor depth:-507.019336 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 57 # Segment length 62.348219 meters # Minimum depth: 508.949417 meters looking forward 0.000000 meters along route # Maximum depth: 508.949417 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 468.949417 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.048002; longitude = -119.246565; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 465.983833; finalDepth = 468.949417; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:468.949417 # Seafloor depth:-508.949417 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 62.348219 meters # Minimum depth: 505.983833 meters looking forward 0.000000 meters along route # Maximum depth: 505.983833 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 465.983833 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.047781; longitude = -119.246869; captureRadius = 10; duration = 62; initialDepth = 464.104802; finalDepth = 465.983833; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:465.983833 # Seafloor depth:-505.983833 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 62.348219 meters # Minimum depth: 504.104802 meters looking forward 0.000000 meters along route # Maximum depth: 504.104802 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 464.104802 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.047432; longitude = -119.247352; captureRadius = 10; duration = 62; initialDepth = 465.124344; finalDepth = 464.104802; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:464.104802 # Seafloor depth:-504.104802 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 56 # Segment length 62.348219 meters # Minimum depth: 505.124344 meters looking forward 0.000000 meters along route # Maximum depth: 505.124344 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 465.124344 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.047101; longitude = -119.247808; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 463.868628; finalDepth = 465.124344; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:465.124344 # Seafloor depth:-505.124344 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 62.348219 meters # Minimum depth: 503.868628 meters looking forward 0.000000 meters along route # Maximum depth: 503.868628 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 463.868628 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.047093; longitude = -119.248061; captureRadius = 10; duration = 62; initialDepth = 465.139819; finalDepth = 463.868628; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:463.868628 # Seafloor depth:-503.868628 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 62.348219 meters # Minimum depth: 505.139819 meters looking forward 0.000000 meters along route # Maximum depth: 505.139819 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 465.139819 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.047076; longitude = -119.248603; captureRadius = 10; duration = 62; initialDepth = 463.597922; finalDepth = 465.139819; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:465.139819 # Seafloor depth:-505.139819 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 62.348219 meters # Minimum depth: 503.597922 meters looking forward 0.000000 meters along route # Maximum depth: 503.597922 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 463.597922 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.047059; longitude = -119.249144; captureRadius = 10; duration = 62; initialDepth = 459.721184; finalDepth = 463.597922; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:463.597922 # Seafloor depth:-503.597922 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 55 # Segment length 62.348219 meters # Minimum depth: 499.721184 meters looking forward 0.000000 meters along route # Maximum depth: 499.721184 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 459.721184 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.047041; longitude = -119.249722; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 459.661018; finalDepth = 459.721184; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:459.721184 # Seafloor depth:-499.721184 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 62.348219 meters # Minimum depth: 499.661018 meters looking forward 0.000000 meters along route # Maximum depth: 499.661018 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 459.661018 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.047112; longitude = -119.249903; captureRadius = 10; duration = 62; initialDepth = 458.786378; finalDepth = 459.661018; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:459.661018 # Seafloor depth:-499.661018 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 62.348219 meters # Minimum depth: 498.786378 meters looking forward 0.000000 meters along route # Maximum depth: 498.786378 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 458.786378 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.047341; longitude = -119.250491; captureRadius = 10; duration = 62; initialDepth = 457.928898; finalDepth = 458.786378; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:458.786378 # Seafloor depth:-498.786378 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 62.348219 meters # Minimum depth: 497.928898 meters looking forward 0.000000 meters along route # Maximum depth: 497.928898 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 457.928898 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.047535; longitude = -119.250986; captureRadius = 10; duration = 62; initialDepth = 458.205521; finalDepth = 457.928898; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:457.928898 # Seafloor depth:-497.928898 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 54 # Segment length 62.348219 meters # Minimum depth: 498.205521 meters looking forward 0.000000 meters along route # Maximum depth: 498.205521 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 458.205521 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.047732; longitude = -119.251491; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 458.457559; finalDepth = 458.205521; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:458.205521 # Seafloor depth:-498.205521 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 62.348219 meters # Minimum depth: 498.457559 meters looking forward 0.000000 meters along route # Maximum depth: 498.457559 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 458.457559 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.047792; longitude = -119.251563; captureRadius = 10; duration = 62; initialDepth = 457.391358; finalDepth = 458.457559; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:458.457559 # Seafloor depth:-498.457559 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 62.348219 meters # Minimum depth: 497.391358 meters looking forward 0.000000 meters along route # Maximum depth: 497.391358 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 457.391358 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.048153; longitude = -119.251997; captureRadius = 10; duration = 62; initialDepth = 455.691495; finalDepth = 457.391358; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:457.391358 # Seafloor depth:-497.391358 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 62.348219 meters # Minimum depth: 495.691495 meters looking forward 0.000000 meters along route # Maximum depth: 495.691495 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 455.691495 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.048484; longitude = -119.252394; captureRadius = 10; duration = 62; initialDepth = 454.612839; finalDepth = 455.691495; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:455.691495 # Seafloor depth:-495.691495 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 53 # Segment length 62.348219 meters # Minimum depth: 494.612839 meters looking forward 0.000000 meters along route # Maximum depth: 494.612839 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 454.612839 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.048814; longitude = -119.252791; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 454.850702; finalDepth = 454.612839; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:454.612839 # Seafloor depth:-494.612839 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 62.348219 meters # Minimum depth: 494.850702 meters looking forward 0.000000 meters along route # Maximum depth: 494.850702 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 454.850702 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.049055; longitude = -119.252960; captureRadius = 10; duration = 62; initialDepth = 445.931534; finalDepth = 454.850702; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:454.850702 # Seafloor depth:-494.850702 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 62.348219 meters # Minimum depth: 485.931534 meters looking forward 0.000000 meters along route # Maximum depth: 485.931534 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 445.931534 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.049506; longitude = -119.253276; captureRadius = 10; duration = 62; initialDepth = 450.335930; finalDepth = 445.931534; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:445.931534 # Seafloor depth:-485.931534 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 52 # Segment length 62.348219 meters # Minimum depth: 490.335930 meters looking forward 0.000000 meters along route # Maximum depth: 490.335930 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 450.335930 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.049896; longitude = -119.253550; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 450.181933; finalDepth = 450.335930; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:450.33593 # Seafloor depth:-490.335930 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 62.348219 meters # Minimum depth: 490.181933 meters looking forward 0.000000 meters along route # Maximum depth: 490.181933 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 450.181933 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.050227; longitude = -119.253513; captureRadius = 10; duration = 62; initialDepth = 448.204366; finalDepth = 450.181933; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:450.181933 # Seafloor depth:-490.181933 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 62.348219 meters # Minimum depth: 488.204366 meters looking forward 0.000000 meters along route # Maximum depth: 488.204366 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 448.204366 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.050678; longitude = -119.253462; captureRadius = 10; duration = 62; initialDepth = 448.262390; finalDepth = 448.204366; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:448.204366 # Seafloor depth:-488.204366 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 51 # Segment length 62.348219 meters # Minimum depth: 488.262390 meters looking forward 0.000000 meters along route # Maximum depth: 488.262390 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 448.262390 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.051189; longitude = -119.253405; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 447.616672; finalDepth = 448.262390; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:448.26239 # Seafloor depth:-488.262390 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 62.348219 meters # Minimum depth: 487.616672 meters looking forward 0.000000 meters along route # Maximum depth: 487.616672 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 447.616672 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.051489; longitude = -119.253330; captureRadius = 10; duration = 62; initialDepth = 445.926556; finalDepth = 447.616672; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:447.616672 # Seafloor depth:-487.616672 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 62.348219 meters # Minimum depth: 485.926556 meters looking forward 0.000000 meters along route # Maximum depth: 485.926556 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 445.926556 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.051940; longitude = -119.253218; captureRadius = 10; duration = 62; initialDepth = 443.923133; finalDepth = 445.926556; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:445.926556 # Seafloor depth:-485.926556 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 62.348219 meters # Minimum depth: 483.923133 meters looking forward 0.000000 meters along route # Maximum depth: 483.923133 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 443.923133 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.052391; longitude = -119.253106; captureRadius = 10; duration = 62; initialDepth = 444.072861; finalDepth = 443.923133; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:443.923133 # Seafloor depth:-483.923133 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 62.348219 meters # Minimum depth: 484.072861 meters looking forward 0.000000 meters along route # Maximum depth: 484.072861 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 444.072861 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.052842; longitude = -119.252994; captureRadius = 10; duration = 62; initialDepth = 442.067649; finalDepth = 444.072861; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:444.072861 # Seafloor depth:-484.072861 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 62.348219 meters # Minimum depth: 482.067649 meters looking forward 0.000000 meters along route # Maximum depth: 482.067649 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 442.067649 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.053293; longitude = -119.252882; captureRadius = 10; duration = 62; initialDepth = 441.516113; finalDepth = 442.067649; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:442.067649 # Seafloor depth:-482.067649 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 50 # Segment length 62.348219 meters # Minimum depth: 481.516113 meters looking forward 0.000000 meters along route # Maximum depth: 481.516113 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 441.516113 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.053804; longitude = -119.252755; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 440.785772; finalDepth = 441.516113; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:441.516113 # Seafloor depth:-481.516113 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 62.348219 meters # Minimum depth: 480.785772 meters looking forward 0.000000 meters along route # Maximum depth: 480.785772 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 440.785772 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.054014; longitude = -119.252682; captureRadius = 10; duration = 62; initialDepth = 439.444657; finalDepth = 440.785772; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:440.785772 # Seafloor depth:-480.785772 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 62.348219 meters # Minimum depth: 479.444657 meters looking forward 0.000000 meters along route # Maximum depth: 479.444657 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 439.444657 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.054465; longitude = -119.252526; captureRadius = 10; duration = 62; initialDepth = 437.877632; finalDepth = 439.444657; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:439.444657 # Seafloor depth:-479.444657 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 62.348219 meters # Minimum depth: 477.877632 meters looking forward 0.000000 meters along route # Maximum depth: 477.877632 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 437.877632 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.054916; longitude = -119.252369; captureRadius = 10; duration = 62; initialDepth = 436.827377; finalDepth = 437.877632; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:437.877632 # Seafloor depth:-477.877632 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 49 # Segment length 62.348219 meters # Minimum depth: 476.827377 meters looking forward 0.000000 meters along route # Maximum depth: 476.827377 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 436.827377 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.055397; longitude = -119.252202; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 436.047572; finalDepth = 436.827377; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:436.827377 # Seafloor depth:-476.827377 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 62.348219 meters # Minimum depth: 476.047572 meters looking forward 0.000000 meters along route # Maximum depth: 476.047572 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 436.047572 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.055550; longitude = -119.252069; captureRadius = 10; duration = 62; initialDepth = 435.429605; finalDepth = 436.047572; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:436.047572 # Seafloor depth:-476.047572 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 62.348219 meters # Minimum depth: 475.429605 meters looking forward 0.000000 meters along route # Maximum depth: 475.429605 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 435.429605 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.055924; longitude = -119.251744; captureRadius = 10; duration = 62; initialDepth = 435.045725; finalDepth = 435.429605; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:435.429605 # Seafloor depth:-475.429605 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 62.348219 meters # Minimum depth: 475.045725 meters looking forward 0.000000 meters along route # Maximum depth: 475.045725 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 435.045725 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.056298; longitude = -119.251419; captureRadius = 10; duration = 62; initialDepth = 433.908663; finalDepth = 435.045725; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:435.045725 # Seafloor depth:-475.045725 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 62.348219 meters # Minimum depth: 473.908663 meters looking forward 0.000000 meters along route # Maximum depth: 473.908663 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 433.908663 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.056673; longitude = -119.251094; captureRadius = 10; duration = 62; initialDepth = 433.165322; finalDepth = 433.908663; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:433.908663 # Seafloor depth:-473.908663 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 62.348219 meters # Minimum depth: 473.165322 meters looking forward 0.000000 meters along route # Maximum depth: 473.165322 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 433.165322 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.057047; longitude = -119.250769; captureRadius = 10; duration = 62; initialDepth = 432.743064; finalDepth = 433.165322; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:433.165322 # Seafloor depth:-473.165322 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 62.348219 meters # Minimum depth: 472.743064 meters looking forward 0.000000 meters along route # Maximum depth: 472.743064 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 432.743064 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.057421; longitude = -119.250444; captureRadius = 10; duration = 62; initialDepth = 429.983985; finalDepth = 432.743064; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:432.743064 # Seafloor depth:-472.743064 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 62.348219 meters # Minimum depth: 469.983985 meters looking forward 0.000000 meters along route # Maximum depth: 469.983985 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 429.983985 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.057801; longitude = -119.250114; captureRadius = 10; duration = 62; initialDepth = 422.019058; finalDepth = 429.983985; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:429.983985 # Seafloor depth:-469.983985 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 62.348219 meters # Minimum depth: 462.019058 meters looking forward 0.000000 meters along route # Maximum depth: 462.019058 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 422.019058 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.058252; longitude = -119.249722; captureRadius = 10; duration = 62; initialDepth = 420.634682; finalDepth = 422.019058; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:422.019058 # Seafloor depth:-462.019058 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 48 # Segment length 62.348219 meters # Minimum depth: 460.634682 meters looking forward 0.000000 meters along route # Maximum depth: 460.634682 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 420.634682 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.058643; longitude = -119.249383; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 420.296216; finalDepth = 420.634682; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:420.634682 # Seafloor depth:-460.634682 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 62.348219 meters # Minimum depth: 460.296216 meters looking forward 0.000000 meters along route # Maximum depth: 460.296216 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 420.296216 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.058732; longitude = -119.249253; captureRadius = 10; duration = 62; initialDepth = 418.903050; finalDepth = 420.296216; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:420.296216 # Seafloor depth:-460.296216 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 62.348219 meters # Minimum depth: 458.903050 meters looking forward 0.000000 meters along route # Maximum depth: 458.903050 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 418.903050 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.059027; longitude = -119.248819; captureRadius = 10; duration = 62; initialDepth = 417.822083; finalDepth = 418.903050; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:418.90305 # Seafloor depth:-458.903050 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 62.348219 meters # Minimum depth: 457.822083 meters looking forward 0.000000 meters along route # Maximum depth: 457.822083 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 417.822083 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.059321; longitude = -119.248386; captureRadius = 10; duration = 62; initialDepth = 416.574240; finalDepth = 417.822083; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:417.822083 # Seafloor depth:-457.822083 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 62.348219 meters # Minimum depth: 456.574240 meters looking forward 0.000000 meters along route # Maximum depth: 456.574240 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 416.574240 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.059616; longitude = -119.247953; captureRadius = 10; duration = 62; initialDepth = 410.420117; finalDepth = 416.574240; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:416.57424 # Seafloor depth:-456.574240 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 62.348219 meters # Minimum depth: 450.420117 meters looking forward 0.000000 meters along route # Maximum depth: 450.420117 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 410.420117 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.059966; longitude = -119.247440; captureRadius = 10; duration = 62; initialDepth = 397.798134; finalDepth = 410.420117; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:410.420117 # Seafloor depth:-450.420117 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 47 # Segment length 62.348219 meters # Minimum depth: 437.798134 meters looking forward 0.000000 meters along route # Maximum depth: 437.798134 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 397.798134 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.060266; longitude = -119.246998; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 391.566061; finalDepth = 397.798134; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:397.798134 # Seafloor depth:-437.798134 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 62.348219 meters # Minimum depth: 431.566061 meters looking forward 0.000000 meters along route # Maximum depth: 431.566061 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 391.566061 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.060416; longitude = -119.246837; captureRadius = 10; duration = 62; initialDepth = 381.375130; finalDepth = 391.566061; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:391.566061 # Seafloor depth:-431.566061 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 62.348219 meters # Minimum depth: 421.375130 meters looking forward 0.000000 meters along route # Maximum depth: 421.375130 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 381.375130 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.060792; longitude = -119.246436; captureRadius = 10; duration = 62; initialDepth = 371.881309; finalDepth = 381.375130; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:381.37513 # Seafloor depth:-421.375130 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 62.348219 meters # Minimum depth: 411.881309 meters looking forward 0.000000 meters along route # Maximum depth: 411.881309 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 371.881309 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.061138; longitude = -119.246067; captureRadius = 10; duration = 62; initialDepth = 369.743117; finalDepth = 371.881309; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:371.881309 # Seafloor depth:-411.881309 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 62.348219 meters # Minimum depth: 409.743117 meters looking forward 0.000000 meters along route # Maximum depth: 409.743117 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 369.743117 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.061502; longitude = -119.245678; captureRadius = 10; duration = 62; initialDepth = 368.221970; finalDepth = 369.743117; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:369.743117 # Seafloor depth:-409.743117 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 46 # Segment length 62.348219 meters # Minimum depth: 408.221970 meters looking forward 0.000000 meters along route # Maximum depth: 408.221970 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 368.221970 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.061889; longitude = -119.245264; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 376.274364; finalDepth = 368.221970; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:368.22197 # Seafloor depth:-408.221970 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 62.348219 meters # Minimum depth: 416.274364 meters looking forward 0.000000 meters along route # Maximum depth: 416.274364 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 376.274364 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.062130; longitude = -119.245202; captureRadius = 10; duration = 62; initialDepth = 389.942399; finalDepth = 376.274364; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:376.274364 # Seafloor depth:-416.274364 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 62.348219 meters # Minimum depth: 429.942399 meters looking forward 0.000000 meters along route # Maximum depth: 429.942399 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 389.942399 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.062581; longitude = -119.245086; captureRadius = 10; duration = 62; initialDepth = 398.873471; finalDepth = 389.942399; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:389.942399 # Seafloor depth:-429.942399 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 62.348219 meters # Minimum depth: 438.873471 meters looking forward 0.000000 meters along route # Maximum depth: 438.873471 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 398.873471 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.063031; longitude = -119.244970; captureRadius = 10; duration = 62; initialDepth = 400.788381; finalDepth = 398.873471; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:398.873471 # Seafloor depth:-438.873471 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 62.348219 meters # Minimum depth: 440.788381 meters looking forward 0.000000 meters along route # Maximum depth: 440.788381 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 400.788381 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.063482; longitude = -119.244854; captureRadius = 10; duration = 62; initialDepth = 398.112091; finalDepth = 400.788381; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:400.788381 # Seafloor depth:-440.788381 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 62.348219 meters # Minimum depth: 438.112091 meters looking forward 0.000000 meters along route # Maximum depth: 438.112091 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 398.112091 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.063933; longitude = -119.244738; captureRadius = 10; duration = 62; initialDepth = 397.747688; finalDepth = 398.112091; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:398.112091 # Seafloor depth:-438.112091 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 45 # Segment length 62.348219 meters # Minimum depth: 437.747688 meters looking forward 0.000000 meters along route # Maximum depth: 437.747688 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 397.747688 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.064414; longitude = -119.244614; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 393.964465; finalDepth = 397.747688; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:397.747688 # Seafloor depth:-437.747688 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 62.348219 meters # Minimum depth: 433.964465 meters looking forward 0.000000 meters along route # Maximum depth: 433.964465 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 393.964465 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.064485; longitude = -119.244594; captureRadius = 10; duration = 62; initialDepth = 391.850712; finalDepth = 393.964465; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:393.964465 # Seafloor depth:-433.964465 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 62.348219 meters # Minimum depth: 431.850712 meters looking forward 0.000000 meters along route # Maximum depth: 431.850712 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 391.850712 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.064925; longitude = -119.244472; captureRadius = 10; duration = 62; initialDepth = 388.331341; finalDepth = 391.850712; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:391.850712 # Seafloor depth:-431.850712 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 62.348219 meters # Minimum depth: 428.331341 meters looking forward 0.000000 meters along route # Maximum depth: 428.331341 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 388.331341 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.065376; longitude = -119.244347; captureRadius = 10; duration = 62; initialDepth = 384.547474; finalDepth = 388.331341; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:388.331341 # Seafloor depth:-428.331341 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 62.348219 meters # Minimum depth: 424.547474 meters looking forward 0.000000 meters along route # Maximum depth: 424.547474 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 384.547474 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.065827; longitude = -119.244222; captureRadius = 10; duration = 62; initialDepth = 381.116120; finalDepth = 384.547474; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:384.547474 # Seafloor depth:-424.547474 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 62.348219 meters # Minimum depth: 421.116120 meters looking forward 0.000000 meters along route # Maximum depth: 421.116120 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 381.116120 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.066278; longitude = -119.244096; captureRadius = 10; duration = 62; initialDepth = 378.586479; finalDepth = 381.116120; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:381.11612 # Seafloor depth:-421.116120 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 44 # Segment length 62.348219 meters # Minimum depth: 418.586479 meters looking forward 0.000000 meters along route # Maximum depth: 418.586479 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 378.586479 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.066758; longitude = -119.243963; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 386.913960; finalDepth = 378.586479; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:378.586479 # Seafloor depth:-418.586479 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 62.348219 meters # Minimum depth: 426.913960 meters looking forward 0.000000 meters along route # Maximum depth: 426.913960 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 386.913960 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.067179; longitude = -119.244026; captureRadius = 10; duration = 62; initialDepth = 393.344254; finalDepth = 386.913960; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:386.91396 # Seafloor depth:-426.913960 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 62.348219 meters # Minimum depth: 433.344254 meters looking forward 0.000000 meters along route # Maximum depth: 433.344254 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 393.344254 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.067630; longitude = -119.244094; captureRadius = 10; duration = 62; initialDepth = 395.564747; finalDepth = 393.344254; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:393.344254 # Seafloor depth:-433.344254 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 62.348219 meters # Minimum depth: 435.564747 meters looking forward 0.000000 meters along route # Maximum depth: 435.564747 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 395.564747 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.068081; longitude = -119.244161; captureRadius = 10; duration = 62; initialDepth = 393.615942; finalDepth = 395.564747; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:395.564747 # Seafloor depth:-435.564747 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 62.348219 meters # Minimum depth: 433.615942 meters looking forward 0.000000 meters along route # Maximum depth: 433.615942 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 393.615942 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.068532; longitude = -119.244229; captureRadius = 10; duration = 62; initialDepth = 389.765503; finalDepth = 393.615942; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:393.615942 # Seafloor depth:-433.615942 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 43 # Segment length 62.348219 meters # Minimum depth: 429.765503 meters looking forward 0.000000 meters along route # Maximum depth: 429.765503 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 389.765503 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.069043; longitude = -119.244305; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 382.718513; finalDepth = 389.765503; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:389.765503 # Seafloor depth:-429.765503 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 62.348219 meters # Minimum depth: 422.718513 meters looking forward 0.000000 meters along route # Maximum depth: 422.718513 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 382.718513 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.069343; longitude = -119.244206; captureRadius = 10; duration = 62; initialDepth = 379.094550; finalDepth = 382.718513; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:382.718513 # Seafloor depth:-422.718513 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 62.348219 meters # Minimum depth: 419.094550 meters looking forward 0.000000 meters along route # Maximum depth: 419.094550 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 379.094550 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.069805; longitude = -119.244053; captureRadius = 10; duration = 62; initialDepth = 376.312654; finalDepth = 379.094550; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:379.09455 # Seafloor depth:-419.094550 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 62.348219 meters # Minimum depth: 416.312654 meters looking forward 0.000000 meters along route # Maximum depth: 416.312654 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 376.312654 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.070245; longitude = -119.243907; captureRadius = 10; duration = 62; initialDepth = 376.316593; finalDepth = 376.312654; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:376.312654 # Seafloor depth:-416.312654 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 62.348219 meters # Minimum depth: 416.316593 meters looking forward 0.000000 meters along route # Maximum depth: 416.316593 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 376.316593 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.070696; longitude = -119.243758; captureRadius = 10; duration = 62; initialDepth = 375.590189; finalDepth = 376.316593; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:376.316593 # Seafloor depth:-416.316593 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 62.348219 meters # Minimum depth: 415.590189 meters looking forward 0.000000 meters along route # Maximum depth: 415.590189 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 375.590189 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.071147; longitude = -119.243608; captureRadius = 10; duration = 62; initialDepth = 380.377991; finalDepth = 375.590189; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:375.590189 # Seafloor depth:-415.590189 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 42 # Segment length 62.348219 meters # Minimum depth: 420.377991 meters looking forward 0.000000 meters along route # Maximum depth: 420.377991 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 380.377991 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.071658; longitude = -119.243439; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 379.789579; finalDepth = 380.377991; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:380.377991 # Seafloor depth:-420.377991 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 62.348219 meters # Minimum depth: 419.789579 meters looking forward 0.000000 meters along route # Maximum depth: 419.789579 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 379.789579 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.071706; longitude = -119.243403; captureRadius = 10; duration = 62; initialDepth = 381.616127; finalDepth = 379.789579; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:379.789579 # Seafloor depth:-419.789579 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 62.348219 meters # Minimum depth: 421.616127 meters looking forward 0.000000 meters along route # Maximum depth: 421.616127 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 381.616127 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.072139; longitude = -119.243074; captureRadius = 10; duration = 62; initialDepth = 382.427472; finalDepth = 381.616127; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:381.616127 # Seafloor depth:-421.616127 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 62.348219 meters # Minimum depth: 422.427472 meters looking forward 0.000000 meters along route # Maximum depth: 422.427472 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 382.427472 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.072562; longitude = -119.242753; captureRadius = 10; duration = 62; initialDepth = 384.294876; finalDepth = 382.427472; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:382.427472 # Seafloor depth:-422.427472 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 62.348219 meters # Minimum depth: 424.294876 meters looking forward 0.000000 meters along route # Maximum depth: 424.294876 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 384.294876 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.072950; longitude = -119.242458; captureRadius = 10; duration = 62; initialDepth = 380.390800; finalDepth = 384.294876; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:384.294876 # Seafloor depth:-424.294876 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 41 # Segment length 62.348219 meters # Minimum depth: 420.390800 meters looking forward 0.000000 meters along route # Maximum depth: 420.390800 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 380.390800 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.073371; longitude = -119.242139; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 380.531531; finalDepth = 380.390800; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:380.3908 # Seafloor depth:-420.390800 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 62.348219 meters # Minimum depth: 420.531531 meters looking forward 0.000000 meters along route # Maximum depth: 420.531531 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 380.531531 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.073538; longitude = -119.241994; captureRadius = 10; duration = 62; initialDepth = 372.960730; finalDepth = 380.531531; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:380.531531 # Seafloor depth:-420.531531 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 62.348219 meters # Minimum depth: 412.960730 meters looking forward 0.000000 meters along route # Maximum depth: 412.960730 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 372.960730 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.073912; longitude = -119.241669; captureRadius = 10; duration = 62; initialDepth = 372.415972; finalDepth = 372.960730; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:372.96073 # Seafloor depth:-412.960730 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 62.348219 meters # Minimum depth: 412.415972 meters looking forward 0.000000 meters along route # Maximum depth: 412.415972 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 372.415972 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.074287; longitude = -119.241344; captureRadius = 10; duration = 62; initialDepth = 373.030192; finalDepth = 372.415972; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:372.415972 # Seafloor depth:-412.415972 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 62.348219 meters # Minimum depth: 413.030192 meters looking forward 0.000000 meters along route # Maximum depth: 413.030192 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 373.030192 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.074664; longitude = -119.241017; captureRadius = 10; duration = 62; initialDepth = 372.473553; finalDepth = 373.030192; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:373.030192 # Seafloor depth:-413.030192 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 62.348219 meters # Minimum depth: 412.473553 meters looking forward 0.000000 meters along route # Maximum depth: 412.473553 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 372.473553 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.075036; longitude = -119.240694; captureRadius = 10; duration = 62; initialDepth = 371.200880; finalDepth = 372.473553; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:372.473553 # Seafloor depth:-412.473553 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 62.348219 meters # Minimum depth: 411.200880 meters looking forward 0.000000 meters along route # Maximum depth: 411.200880 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 371.200880 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.075410; longitude = -119.240369; captureRadius = 10; duration = 62; initialDepth = 370.440848; finalDepth = 371.200880; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:371.20088 # Seafloor depth:-411.200880 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 62.348219 meters # Minimum depth: 410.440848 meters looking forward 0.000000 meters along route # Maximum depth: 410.440848 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 370.440848 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.075785; longitude = -119.240044; captureRadius = 10; duration = 62; initialDepth = 369.199222; finalDepth = 370.440848; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:370.440848 # Seafloor depth:-410.440848 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 62.348219 meters # Minimum depth: 409.199222 meters looking forward 0.000000 meters along route # Maximum depth: 409.199222 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 369.199222 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.076197; longitude = -119.239687; captureRadius = 10; duration = 62; initialDepth = 367.902550; finalDepth = 369.199222; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:369.199222 # Seafloor depth:-409.199222 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 40 # Segment length 62.348219 meters # Minimum depth: 407.902550 meters looking forward 0.000000 meters along route # Maximum depth: 407.902550 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 367.902550 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.076617; longitude = -119.239322; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 367.294531; finalDepth = 367.902550; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:367.90255 # Seafloor depth:-407.902550 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 62.348219 meters # Minimum depth: 407.294531 meters looking forward 0.000000 meters along route # Maximum depth: 407.294531 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 367.294531 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.076978; longitude = -119.239069; captureRadius = 10; duration = 62; initialDepth = 366.791581; finalDepth = 367.294531; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:367.294531 # Seafloor depth:-407.294531 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 62.348219 meters # Minimum depth: 406.791581 meters looking forward 0.000000 meters along route # Maximum depth: 406.791581 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 366.791581 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.077369; longitude = -119.238795; captureRadius = 10; duration = 62; initialDepth = 366.513740; finalDepth = 366.791581; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:366.791581 # Seafloor depth:-406.791581 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 62.348219 meters # Minimum depth: 406.513740 meters looking forward 0.000000 meters along route # Maximum depth: 406.513740 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 366.513740 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.077820; longitude = -119.238479; captureRadius = 10; duration = 62; initialDepth = 366.682682; finalDepth = 366.513740; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:366.51374 # Seafloor depth:-406.513740 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 62.348219 meters # Minimum depth: 406.682682 meters looking forward 0.000000 meters along route # Maximum depth: 406.682682 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 366.682682 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.078270; longitude = -119.238164; captureRadius = 10; duration = 62; initialDepth = 366.134172; finalDepth = 366.682682; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:366.682682 # Seafloor depth:-406.682682 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 62.348219 meters # Minimum depth: 406.134172 meters looking forward 0.000000 meters along route # Maximum depth: 406.134172 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 366.134172 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.078721; longitude = -119.237848; captureRadius = 10; duration = 62; initialDepth = 365.119728; finalDepth = 366.134172; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:366.134172 # Seafloor depth:-406.134172 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 62.348219 meters # Minimum depth: 405.119728 meters looking forward 0.000000 meters along route # Maximum depth: 405.119728 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 365.119728 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.079172; longitude = -119.237532; captureRadius = 10; duration = 62; initialDepth = 363.434075; finalDepth = 365.119728; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:365.119728 # Seafloor depth:-405.119728 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 62.348219 meters # Minimum depth: 403.434075 meters looking forward 0.000000 meters along route # Maximum depth: 403.434075 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 363.434075 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.079623; longitude = -119.237216; captureRadius = 10; duration = 62; initialDepth = 362.416838; finalDepth = 363.434075; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:363.434075 # Seafloor depth:-403.434075 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 62.348219 meters # Minimum depth: 402.416838 meters looking forward 0.000000 meters along route # Maximum depth: 402.416838 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 362.416838 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.080074; longitude = -119.236900; captureRadius = 10; duration = 62; initialDepth = 361.279290; finalDepth = 362.416838; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:362.416838 # Seafloor depth:-402.416838 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 62.348219 meters # Minimum depth: 401.279290 meters looking forward 0.000000 meters along route # Maximum depth: 401.279290 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 361.279290 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.080534; longitude = -119.236578; captureRadius = 10; duration = 62; initialDepth = 360.369812; finalDepth = 361.279290; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:361.27929 # Seafloor depth:-401.279290 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 39 # Segment length 62.348219 meters # Minimum depth: 400.369812 meters looking forward 0.000000 meters along route # Maximum depth: 400.369812 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 360.369812 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.080946; longitude = -119.236289; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 360.216837; finalDepth = 360.369812; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:360.369812 # Seafloor depth:-400.369812 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 62.348219 meters # Minimum depth: 400.216837 meters looking forward 0.000000 meters along route # Maximum depth: 400.216837 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 360.216837 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.081346; longitude = -119.236036; captureRadius = 10; duration = 62; initialDepth = 357.910615; finalDepth = 360.216837; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:360.216837 # Seafloor depth:-400.216837 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 62.348219 meters # Minimum depth: 397.910615 meters looking forward 0.000000 meters along route # Maximum depth: 397.910615 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 357.910615 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.081787; longitude = -119.235757; captureRadius = 10; duration = 62; initialDepth = 356.103928; finalDepth = 357.910615; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:357.910615 # Seafloor depth:-397.910615 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 62.348219 meters # Minimum depth: 396.103928 meters looking forward 0.000000 meters along route # Maximum depth: 396.103928 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 356.103928 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.082238; longitude = -119.235471; captureRadius = 10; duration = 62; initialDepth = 353.789886; finalDepth = 356.103928; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:356.103928 # Seafloor depth:-396.103928 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 38 # Segment length 62.348219 meters # Minimum depth: 393.789886 meters looking forward 0.000000 meters along route # Maximum depth: 393.789886 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 353.789886 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.082659; longitude = -119.235205; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 353.468671; finalDepth = 353.789886; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:353.789886 # Seafloor depth:-393.789886 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 62.348219 meters # Minimum depth: 393.468671 meters looking forward 0.000000 meters along route # Maximum depth: 393.468671 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 353.468671 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.082689; longitude = -119.235193; captureRadius = 10; duration = 62; initialDepth = 352.578809; finalDepth = 353.468671; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:353.468671 # Seafloor depth:-393.468671 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 62.348219 meters # Minimum depth: 392.578809 meters looking forward 0.000000 meters along route # Maximum depth: 392.578809 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 352.578809 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.083140; longitude = -119.235012; captureRadius = 10; duration = 62; initialDepth = 350.759472; finalDepth = 352.578809; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:352.578809 # Seafloor depth:-392.578809 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 62.348219 meters # Minimum depth: 390.759472 meters looking forward 0.000000 meters along route # Maximum depth: 390.759472 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 350.759472 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.083591; longitude = -119.234832; captureRadius = 10; duration = 62; initialDepth = 348.592622; finalDepth = 350.759472; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:350.759472 # Seafloor depth:-390.759472 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 62.348219 meters # Minimum depth: 388.592622 meters looking forward 0.000000 meters along route # Maximum depth: 388.592622 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 348.592622 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.084101; longitude = -119.234628; captureRadius = 10; duration = 62; initialDepth = 349.377663; finalDepth = 348.592622; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:348.592622 # Seafloor depth:-388.592622 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 37 # Segment length 62.348219 meters # Minimum depth: 389.377663 meters looking forward 0.000000 meters along route # Maximum depth: 389.377663 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 349.377663 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.084552; longitude = -119.234447; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 349.451726; finalDepth = 349.377663; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:349.377663 # Seafloor depth:-389.377663 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 62.348219 meters # Minimum depth: 389.451726 meters looking forward 0.000000 meters along route # Maximum depth: 389.451726 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 349.451726 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.084583; longitude = -119.234450; captureRadius = 10; duration = 62; initialDepth = 343.525026; finalDepth = 349.451726; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:349.451726 # Seafloor depth:-389.451726 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 62.348219 meters # Minimum depth: 383.525026 meters looking forward 0.000000 meters along route # Maximum depth: 383.525026 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 343.525026 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.085033; longitude = -119.234502; captureRadius = 10; duration = 62; initialDepth = 341.975858; finalDepth = 343.525026; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:343.525026 # Seafloor depth:-383.525026 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 62.348219 meters # Minimum depth: 381.975858 meters looking forward 0.000000 meters along route # Maximum depth: 381.975858 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 341.975858 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.085484; longitude = -119.234554; captureRadius = 10; duration = 62; initialDepth = 343.479908; finalDepth = 341.975858; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:341.975858 # Seafloor depth:-381.975858 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 62.348219 meters # Minimum depth: 383.479908 meters looking forward 0.000000 meters along route # Maximum depth: 383.479908 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 343.479908 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.085935; longitude = -119.234605; captureRadius = 10; duration = 62; initialDepth = 342.025452; finalDepth = 343.479908; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:343.479908 # Seafloor depth:-383.479908 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 36 # Segment length 62.348219 meters # Minimum depth: 382.025452 meters looking forward 0.000000 meters along route # Maximum depth: 382.025452 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 342.025452 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.086446; longitude = -119.234664; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 341.656587; finalDepth = 342.025452; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:342.025452 # Seafloor depth:-382.025452 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 62.348219 meters # Minimum depth: 381.656587 meters looking forward 0.000000 meters along route # Maximum depth: 381.656587 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 341.656587 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.086657; longitude = -119.234779; captureRadius = 10; duration = 62; initialDepth = 327.286046; finalDepth = 341.656587; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:341.656587 # Seafloor depth:-381.656587 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 62.348219 meters # Minimum depth: 367.286046 meters looking forward 0.000000 meters along route # Maximum depth: 367.286046 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 327.286046 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.087107; longitude = -119.235025; captureRadius = 10; duration = 62; initialDepth = 313.255784; finalDepth = 327.286046; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:327.286046 # Seafloor depth:-367.286046 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 62.348219 meters # Minimum depth: 353.255784 meters looking forward 0.000000 meters along route # Maximum depth: 353.255784 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 313.255784 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.087570; longitude = -119.235278; captureRadius = 10; duration = 62; initialDepth = 304.042649; finalDepth = 313.255784; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:313.255784 # Seafloor depth:-353.255784 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 62.348219 meters # Minimum depth: 344.042649 meters looking forward 0.000000 meters along route # Maximum depth: 344.042649 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 304.042649 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.088009; longitude = -119.235517; captureRadius = 10; duration = 62; initialDepth = 298.291341; finalDepth = 304.042649; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:304.042649 # Seafloor depth:-344.042649 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 35 # Segment length 62.348219 meters # Minimum depth: 338.291341 meters looking forward 0.000000 meters along route # Maximum depth: 338.291341 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 298.291341 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.088430; longitude = -119.235747; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 295.096191; finalDepth = 298.291341; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:298.291341 # Seafloor depth:-338.291341 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 62.348219 meters # Minimum depth: 335.096191 meters looking forward 0.000000 meters along route # Maximum depth: 335.096191 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 295.096191 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.088776; longitude = -119.235928; captureRadius = 10; duration = 62; initialDepth = 292.544824; finalDepth = 295.096191; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:295.096191 # Seafloor depth:-335.096191 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 62.348219 meters # Minimum depth: 332.544824 meters looking forward 0.000000 meters along route # Maximum depth: 332.544824 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 292.544824 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.089190; longitude = -119.236144; captureRadius = 10; duration = 62; initialDepth = 291.357040; finalDepth = 292.544824; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:292.544824 # Seafloor depth:-332.544824 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 62.348219 meters # Minimum depth: 331.357040 meters looking forward 0.000000 meters along route # Maximum depth: 331.357040 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 291.357040 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.089632; longitude = -119.236375; captureRadius = 10; duration = 62; initialDepth = 289.737857; finalDepth = 291.357040; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:291.35704 # Seafloor depth:-331.357040 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 62.348219 meters # Minimum depth: 329.737857 meters looking forward 0.000000 meters along route # Maximum depth: 329.737857 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 289.737857 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.090083; longitude = -119.236611; captureRadius = 10; duration = 62; initialDepth = 290.180664; finalDepth = 289.737857; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:289.737857 # Seafloor depth:-329.737857 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 34 # Segment length 62.348219 meters # Minimum depth: 330.180664 meters looking forward 0.000000 meters along route # Maximum depth: 330.180664 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 290.180664 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.090504; longitude = -119.236830; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 291.906954; finalDepth = 290.180664; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:290.180664 # Seafloor depth:-330.180664 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 62.348219 meters # Minimum depth: 331.906954 meters looking forward 0.000000 meters along route # Maximum depth: 331.906954 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 291.906954 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.090804; longitude = -119.236898; captureRadius = 10; duration = 62; initialDepth = 293.469458; finalDepth = 291.906954; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:291.906954 # Seafloor depth:-331.906954 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 62.348219 meters # Minimum depth: 333.469458 meters looking forward 0.000000 meters along route # Maximum depth: 333.469458 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 293.469458 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.091255; longitude = -119.236998; captureRadius = 10; duration = 62; initialDepth = 290.756086; finalDepth = 293.469458; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:293.469458 # Seafloor depth:-333.469458 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 62.348219 meters # Minimum depth: 330.756086 meters looking forward 0.000000 meters along route # Maximum depth: 330.756086 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 290.756086 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.091706; longitude = -119.237099; captureRadius = 10; duration = 62; initialDepth = 288.000409; finalDepth = 290.756086; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:290.756086 # Seafloor depth:-330.756086 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 62.348219 meters # Minimum depth: 328.000409 meters looking forward 0.000000 meters along route # Maximum depth: 328.000409 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 288.000409 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.092157; longitude = -119.237200; captureRadius = 10; duration = 62; initialDepth = 284.442837; finalDepth = 288.000409; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:288.000409 # Seafloor depth:-328.000409 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 62.348219 meters # Minimum depth: 324.442837 meters looking forward 0.000000 meters along route # Maximum depth: 324.442837 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 284.442837 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.092608; longitude = -119.237301; captureRadius = 10; duration = 62; initialDepth = 279.009440; finalDepth = 284.442837; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:284.442837 # Seafloor depth:-324.442837 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 33 # Segment length 62.348219 meters # Minimum depth: 319.009440 meters looking forward 0.000000 meters along route # Maximum depth: 319.009440 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 279.009440 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.093089; longitude = -119.237408; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 278.164968; finalDepth = 279.009440; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:279.00944 # Seafloor depth:-319.009440 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 62.348219 meters # Minimum depth: 318.164968 meters looking forward 0.000000 meters along route # Maximum depth: 318.164968 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 278.164968 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.093239; longitude = -119.237386; captureRadius = 10; duration = 62; initialDepth = 276.752239; finalDepth = 278.164968; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:278.164968 # Seafloor depth:-318.164968 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 62.348219 meters # Minimum depth: 316.752239 meters looking forward 0.000000 meters along route # Maximum depth: 316.752239 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 276.752239 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.093690; longitude = -119.237320; captureRadius = 10; duration = 62; initialDepth = 276.827792; finalDepth = 276.752239; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:276.752239 # Seafloor depth:-316.752239 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 62.348219 meters # Minimum depth: 316.827792 meters looking forward 0.000000 meters along route # Maximum depth: 316.827792 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 276.827792 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.094141; longitude = -119.237254; captureRadius = 10; duration = 62; initialDepth = 274.067978; finalDepth = 276.827792; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:276.827792 # Seafloor depth:-316.827792 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 62.348219 meters # Minimum depth: 314.067978 meters looking forward 0.000000 meters along route # Maximum depth: 314.067978 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 274.067978 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.094592; longitude = -119.237188; captureRadius = 10; duration = 62; initialDepth = 275.222266; finalDepth = 274.067978; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:274.067978 # Seafloor depth:-314.067978 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 62.348219 meters # Minimum depth: 315.222266 meters looking forward 0.000000 meters along route # Maximum depth: 315.222266 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 275.222266 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.095061; longitude = -119.237119; captureRadius = 10; duration = 62; initialDepth = 284.965495; finalDepth = 275.222266; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:275.222266 # Seafloor depth:-315.222266 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 32 # Segment length 62.348219 meters # Minimum depth: 324.965495 meters looking forward 0.000000 meters along route # Maximum depth: 324.965495 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 284.965495 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.095553; longitude = -119.237047; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 291.527995; finalDepth = 284.965495; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:284.965495 # Seafloor depth:-324.965495 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 62.348219 meters # Minimum depth: 331.527995 meters looking forward 0.000000 meters along route # Maximum depth: 331.527995 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 291.527995 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.095764; longitude = -119.236963; captureRadius = 10; duration = 62; initialDepth = 301.163520; finalDepth = 291.527995; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:291.527995 # Seafloor depth:-331.527995 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 62.348219 meters # Minimum depth: 341.163520 meters looking forward 0.000000 meters along route # Maximum depth: 341.163520 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 301.163520 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.096215; longitude = -119.236782; captureRadius = 10; duration = 62; initialDepth = 307.562490; finalDepth = 301.163520; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:301.16352 # Seafloor depth:-341.163520 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 62.348219 meters # Minimum depth: 347.562490 meters looking forward 0.000000 meters along route # Maximum depth: 347.562490 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 307.562490 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.096726; longitude = -119.236578; captureRadius = 10; duration = 62; initialDepth = 305.761068; finalDepth = 307.562490; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:307.56249 # Seafloor depth:-347.562490 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 31 # Segment length 62.348219 meters # Minimum depth: 345.761068 meters looking forward 0.000000 meters along route # Maximum depth: 345.761068 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 305.761068 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.097177; longitude = -119.236397; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 302.854909; finalDepth = 305.761068; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:305.761068 # Seafloor depth:-345.761068 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 62.348219 meters # Minimum depth: 342.854909 meters looking forward 0.000000 meters along route # Maximum depth: 342.854909 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 302.854909 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.097493; longitude = -119.236253; captureRadius = 10; duration = 62; initialDepth = 301.956568; finalDepth = 302.854909; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:302.854909 # Seafloor depth:-342.854909 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 62.348219 meters # Minimum depth: 341.956568 meters looking forward 0.000000 meters along route # Maximum depth: 341.956568 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 301.956568 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.097928; longitude = -119.236055; captureRadius = 10; duration = 62; initialDepth = 300.743449; finalDepth = 301.956568; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:301.956568 # Seafloor depth:-341.956568 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 62.348219 meters # Minimum depth: 340.743449 meters looking forward 0.000000 meters along route # Maximum depth: 340.743449 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 300.743449 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.098379; longitude = -119.235849; captureRadius = 10; duration = 62; initialDepth = 299.093000; finalDepth = 300.743449; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:300.743449 # Seafloor depth:-340.743449 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 62.348219 meters # Minimum depth: 339.093000 meters looking forward 0.000000 meters along route # Maximum depth: 339.093000 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 299.093000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.098830; longitude = -119.235644; captureRadius = 10; duration = 62; initialDepth = 298.611354; finalDepth = 299.093000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:299.093 # Seafloor depth:-339.093000 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 62.348219 meters # Minimum depth: 338.611354 meters looking forward 0.000000 meters along route # Maximum depth: 338.611354 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 298.611354 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.099281; longitude = -119.235438; captureRadius = 10; duration = 62; initialDepth = 295.869860; finalDepth = 298.611354; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:298.611354 # Seafloor depth:-338.611354 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 62.348219 meters # Minimum depth: 335.869860 meters looking forward 0.000000 meters along route # Maximum depth: 335.869860 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 295.869860 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.099731; longitude = -119.235233; captureRadius = 10; duration = 62; initialDepth = 295.210377; finalDepth = 295.869860; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:295.86986 # Seafloor depth:-335.869860 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 62.348219 meters # Minimum depth: 335.210377 meters looking forward 0.000000 meters along route # Maximum depth: 335.210377 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 295.210377 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.100182; longitude = -119.235027; captureRadius = 10; duration = 62; initialDepth = 294.459229; finalDepth = 295.210377; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:295.210377 # Seafloor depth:-335.210377 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 30 # Segment length 62.348219 meters # Minimum depth: 334.459229 meters looking forward 0.000000 meters along route # Maximum depth: 334.459229 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 294.459229 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.100663; longitude = -119.234808; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 293.966489; finalDepth = 294.459229; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:294.459229 # Seafloor depth:-334.459229 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 62.348219 meters # Minimum depth: 333.966489 meters looking forward 0.000000 meters along route # Maximum depth: 333.966489 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 293.966489 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.100754; longitude = -119.234736; captureRadius = 10; duration = 62; initialDepth = 292.719205; finalDepth = 293.966489; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:293.966489 # Seafloor depth:-333.966489 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 62.348219 meters # Minimum depth: 332.719205 meters looking forward 0.000000 meters along route # Maximum depth: 332.719205 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 292.719205 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.101174; longitude = -119.234403; captureRadius = 10; duration = 62; initialDepth = 290.801821; finalDepth = 292.719205; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:292.719205 # Seafloor depth:-332.719205 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 62.348219 meters # Minimum depth: 330.801821 meters looking forward 0.000000 meters along route # Maximum depth: 330.801821 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 290.801821 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.101575; longitude = -119.234086; captureRadius = 10; duration = 62; initialDepth = 288.002999; finalDepth = 290.801821; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:290.801821 # Seafloor depth:-330.801821 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 62.348219 meters # Minimum depth: 328.002999 meters looking forward 0.000000 meters along route # Maximum depth: 328.002999 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 288.002999 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.101986; longitude = -119.233761; captureRadius = 10; duration = 62; initialDepth = 282.036157; finalDepth = 288.002999; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:288.002999 # Seafloor depth:-328.002999 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 62.348219 meters # Minimum depth: 322.036157 meters looking forward 0.000000 meters along route # Maximum depth: 322.036157 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 282.036157 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.102437; longitude = -119.233404; captureRadius = 10; duration = 62; initialDepth = 282.587190; finalDepth = 282.036157; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:282.036157 # Seafloor depth:-322.036157 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 62.348219 meters # Minimum depth: 322.587190 meters looking forward 0.000000 meters along route # Maximum depth: 322.587190 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 282.587190 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.102887; longitude = -119.233047; captureRadius = 10; duration = 62; initialDepth = 289.306755; finalDepth = 282.587190; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:282.58719 # Seafloor depth:-322.587190 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 29 # Segment length 62.348219 meters # Minimum depth: 329.306755 meters looking forward 0.000000 meters along route # Maximum depth: 329.306755 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 289.306755 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.103308; longitude = -119.232714; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 287.909911; finalDepth = 289.306755; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:289.306755 # Seafloor depth:-329.306755 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 62.348219 meters # Minimum depth: 327.909911 meters looking forward 0.000000 meters along route # Maximum depth: 327.909911 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 287.909911 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.103444; longitude = -119.232353; captureRadius = 10; duration = 62; initialDepth = 281.093836; finalDepth = 287.909911; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:287.909911 # Seafloor depth:-327.909911 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 62.348219 meters # Minimum depth: 321.093836 meters looking forward 0.000000 meters along route # Maximum depth: 321.093836 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 281.093836 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.103647; longitude = -119.231811; captureRadius = 10; duration = 62; initialDepth = 279.733451; finalDepth = 281.093836; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:281.093836 # Seafloor depth:-321.093836 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 62.348219 meters # Minimum depth: 319.733451 meters looking forward 0.000000 meters along route # Maximum depth: 319.733451 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 279.733451 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.103850; longitude = -119.231269; captureRadius = 10; duration = 62; initialDepth = 279.500855; finalDepth = 279.733451; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:279.733451 # Seafloor depth:-319.733451 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 62.348219 meters # Minimum depth: 319.500855 meters looking forward 0.000000 meters along route # Maximum depth: 319.500855 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 279.500855 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.104060; longitude = -119.230710; captureRadius = 10; duration = 62; initialDepth = 278.550484; finalDepth = 279.500855; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:279.500855 # Seafloor depth:-319.500855 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 28 # Segment length 62.348219 meters # Minimum depth: 318.550484 meters looking forward 0.000000 meters along route # Maximum depth: 318.550484 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 278.550484 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.104270; longitude = -119.230150; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 278.616908; finalDepth = 278.550484; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:278.550484 # Seafloor depth:-318.550484 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 62.348219 meters # Minimum depth: 318.616908 meters looking forward 0.000000 meters along route # Maximum depth: 318.616908 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 278.616908 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.104318; longitude = -119.230078; captureRadius = 10; duration = 62; initialDepth = 276.331490; finalDepth = 278.616908; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:278.616908 # Seafloor depth:-318.616908 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 62.348219 meters # Minimum depth: 316.331490 meters looking forward 0.000000 meters along route # Maximum depth: 316.331490 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 276.331490 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.104609; longitude = -119.229644; captureRadius = 10; duration = 62; initialDepth = 273.093559; finalDepth = 276.331490; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:276.33149 # Seafloor depth:-316.331490 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 62.348219 meters # Minimum depth: 313.093559 meters looking forward 0.000000 meters along route # Maximum depth: 313.093559 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 273.093559 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.104899; longitude = -119.229211; captureRadius = 10; duration = 62; initialDepth = 272.946205; finalDepth = 273.093559; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:273.093559 # Seafloor depth:-313.093559 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 62.348219 meters # Minimum depth: 312.946205 meters looking forward 0.000000 meters along route # Maximum depth: 312.946205 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 272.946205 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.105232; longitude = -119.228715; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 272.464316; finalDepth = 272.946205; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:272.946205 # Seafloor depth:-312.946205 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 62.348219 meters # Minimum depth: 312.464316 meters looking forward 0.000000 meters along route # Maximum depth: 312.464316 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 272.464316 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.105322; longitude = -119.228643; captureRadius = 10; duration = 62; initialDepth = 268.693494; finalDepth = 272.464316; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:272.464316 # Seafloor depth:-312.464316 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 62.348219 meters # Minimum depth: 308.693494 meters looking forward 0.000000 meters along route # Maximum depth: 308.693494 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 268.693494 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.105773; longitude = -119.228283; captureRadius = 10; duration = 62; initialDepth = 267.988274; finalDepth = 268.693494; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:268.693494 # Seafloor depth:-308.693494 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 62.348219 meters # Minimum depth: 307.988274 meters looking forward 0.000000 meters along route # Maximum depth: 307.988274 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 267.988274 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.106194; longitude = -119.227947; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 267.155082; finalDepth = 267.988274; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:267.988274 # Seafloor depth:-307.988274 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 62.348219 meters # Minimum depth: 307.155082 meters looking forward 0.000000 meters along route # Maximum depth: 307.155082 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 267.155082 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.106250; longitude = -119.227911; captureRadius = 10; duration = 62; initialDepth = 261.925371; finalDepth = 267.155082; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:267.155082 # Seafloor depth:-307.155082 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 62.348219 meters # Minimum depth: 301.925371 meters looking forward 0.000000 meters along route # Maximum depth: 301.925371 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 261.925371 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.106675; longitude = -119.227639; captureRadius = 10; duration = 62; initialDepth = 259.857611; finalDepth = 261.925371; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:261.925371 # Seafloor depth:-301.925371 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 62.348219 meters # Minimum depth: 299.857611 meters looking forward 0.000000 meters along route # Maximum depth: 299.857611 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 259.857611 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.107126; longitude = -119.227350; captureRadius = 10; duration = 62; initialDepth = 261.348869; finalDepth = 259.857611; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:259.857611 # Seafloor depth:-299.857611 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 62.348219 meters # Minimum depth: 301.348869 meters looking forward 0.000000 meters along route # Maximum depth: 301.348869 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 261.348869 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.107546; longitude = -119.227081; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 260.670171; finalDepth = 261.348869; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:261.348869 # Seafloor depth:-301.348869 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 62.348219 meters # Minimum depth: 300.670171 meters looking forward 0.000000 meters along route # Maximum depth: 300.670171 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 260.670171 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.107569; longitude = -119.227044; captureRadius = 10; duration = 62; initialDepth = 258.229629; finalDepth = 260.670171; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:260.670171 # Seafloor depth:-300.670171 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 62.348219 meters # Minimum depth: 298.229629 meters looking forward 0.000000 meters along route # Maximum depth: 298.229629 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 258.229629 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.107844; longitude = -119.226611; captureRadius = 10; duration = 62; initialDepth = 258.263208; finalDepth = 258.229629; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:258.229629 # Seafloor depth:-298.229629 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 62.348219 meters # Minimum depth: 298.263208 meters looking forward 0.000000 meters along route # Maximum depth: 298.263208 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 258.263208 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.108120; longitude = -119.226178; captureRadius = 10; duration = 62; initialDepth = 257.098625; finalDepth = 258.263208; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:258.263208 # Seafloor depth:-298.263208 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 62.348219 meters # Minimum depth: 297.098625 meters looking forward 0.000000 meters along route # Maximum depth: 297.098625 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 257.098625 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.108418; longitude = -119.225708; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 257.379685; finalDepth = 257.098625; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:257.098625 # Seafloor depth:-297.098625 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 62.348219 meters # Minimum depth: 297.379685 meters looking forward 0.000000 meters along route # Maximum depth: 297.379685 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 257.379685 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.108478; longitude = -119.225671; captureRadius = 10; duration = 62; initialDepth = 253.331149; finalDepth = 257.379685; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:257.379685 # Seafloor depth:-297.379685 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 62.348219 meters # Minimum depth: 293.331149 meters looking forward 0.000000 meters along route # Maximum depth: 293.331149 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 253.331149 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.108888; longitude = -119.225419; captureRadius = 10; duration = 62; initialDepth = 251.050978; finalDepth = 253.331149; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:253.331149 # Seafloor depth:-293.331149 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 62.348219 meters # Minimum depth: 291.050978 meters looking forward 0.000000 meters along route # Maximum depth: 291.050978 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 251.050978 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.109290; longitude = -119.225173; captureRadius = 10; duration = 62; initialDepth = 250.367050; finalDepth = 251.050978; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:251.050978 # Seafloor depth:-291.050978 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 62.348219 meters # Minimum depth: 290.367050 meters looking forward 0.000000 meters along route # Maximum depth: 290.367050 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 250.367050 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.109711; longitude = -119.224914; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 247.167218; finalDepth = 250.367050; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:250.36705 # Seafloor depth:-290.367050 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 62.348219 meters # Minimum depth: 287.167218 meters looking forward 0.000000 meters along route # Maximum depth: 287.167218 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 247.167218 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.109921; longitude = -119.225018; captureRadius = 10; duration = 62; initialDepth = 247.054656; finalDepth = 247.167218; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:247.167218 # Seafloor depth:-287.167218 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 62.348219 meters # Minimum depth: 287.054656 meters looking forward 0.000000 meters along route # Maximum depth: 287.054656 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 247.054656 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.110372; longitude = -119.225241; captureRadius = 10; duration = 62; initialDepth = 246.346939; finalDepth = 247.054656; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:247.054656 # Seafloor depth:-287.054656 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 62.348219 meters # Minimum depth: 286.346939 meters looking forward 0.000000 meters along route # Maximum depth: 286.346939 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 246.346939 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.110822; longitude = -119.225463; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 248.491123; finalDepth = 246.346939; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:246.346939 # Seafloor depth:-286.346939 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 62.348219 meters # Minimum depth: 288.491123 meters looking forward 0.000000 meters along route # Maximum depth: 288.491123 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 248.491123 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.111038; longitude = -119.225636; captureRadius = 10; duration = 62; initialDepth = 243.801405; finalDepth = 248.491123; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:248.491123 # Seafloor depth:-288.491123 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 62.348219 meters # Minimum depth: 283.801405 meters looking forward 0.000000 meters along route # Maximum depth: 283.801405 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 243.801405 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.111454; longitude = -119.225969; captureRadius = 10; duration = 62; initialDepth = 242.402145; finalDepth = 243.801405; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:243.801405 # Seafloor depth:-283.801405 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 62.348219 meters # Minimum depth: 282.402145 meters looking forward 0.000000 meters along route # Maximum depth: 282.402145 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 242.402145 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.111905; longitude = -119.226330; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 240.552292; finalDepth = 242.402145; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:242.402145 # Seafloor depth:-282.402145 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 62.348219 meters # Minimum depth: 280.552292 meters looking forward 0.000000 meters along route # Maximum depth: 280.552292 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 240.552292 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.112112; longitude = -119.226828; captureRadius = 10; duration = 62; initialDepth = 237.913962; finalDepth = 240.552292; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:240.552292 # Seafloor depth:-280.552292 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 62.348219 meters # Minimum depth: 277.913962 meters looking forward 0.000000 meters along route # Maximum depth: 277.913962 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 237.913962 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.112356; longitude = -119.227414; captureRadius = 10; duration = 62; initialDepth = 237.465019; finalDepth = 237.913962; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:237.913962 # Seafloor depth:-277.913962 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 62.348219 meters # Minimum depth: 277.465019 meters looking forward 0.000000 meters along route # Maximum depth: 277.465019 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 237.465019 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.112566; longitude = -119.227920; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 235.378229; finalDepth = 237.465019; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:237.465019 # Seafloor depth:-277.465019 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 62.348219 meters # Minimum depth: 275.378229 meters looking forward 0.000000 meters along route # Maximum depth: 275.378229 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 235.378229 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.112592; longitude = -119.228236; captureRadius = 10; duration = 62; initialDepth = 231.884541; finalDepth = 235.378229; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:235.378229 # Seafloor depth:-275.378229 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 62.348219 meters # Minimum depth: 271.884541 meters looking forward 0.000000 meters along route # Maximum depth: 271.884541 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 231.884541 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.112638; longitude = -119.228778; captureRadius = 10; duration = 62; initialDepth = 232.299675; finalDepth = 231.884541; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:231.884541 # Seafloor depth:-271.884541 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 62.348219 meters # Minimum depth: 272.299675 meters looking forward 0.000000 meters along route # Maximum depth: 272.299675 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 232.299675 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.112686; longitude = -119.229356; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 231.185414; finalDepth = 232.299675; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:232.299675 # Seafloor depth:-272.299675 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 62.348219 meters # Minimum depth: 271.185414 meters looking forward 0.000000 meters along route # Maximum depth: 271.185414 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 231.185414 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.112721; longitude = -119.229536; captureRadius = 10; duration = 62; initialDepth = 229.923420; finalDepth = 231.185414; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:231.185414 # Seafloor depth:-271.185414 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 62.348219 meters # Minimum depth: 269.923420 meters looking forward 0.000000 meters along route # Maximum depth: 269.923420 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 229.923420 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.112828; longitude = -119.230078; captureRadius = 10; duration = 62; initialDepth = 226.249759; finalDepth = 229.923420; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:229.92342 # Seafloor depth:-269.923420 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 62.348219 meters # Minimum depth: 266.249759 meters looking forward 0.000000 meters along route # Maximum depth: 266.249759 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 226.249759 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.112934; longitude = -119.230619; captureRadius = 10; duration = 62; initialDepth = 224.240723; finalDepth = 226.249759; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:226.249759 # Seafloor depth:-266.249759 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 62.348219 meters # Minimum depth: 264.240723 meters looking forward 0.000000 meters along route # Maximum depth: 264.240723 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 224.240723 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.113047; longitude = -119.231197; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 223.246631; finalDepth = 224.240723; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:224.240723 # Seafloor depth:-264.240723 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 62.348219 meters # Minimum depth: 263.246631 meters looking forward 0.000000 meters along route # Maximum depth: 263.246631 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 223.246631 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.113483; longitude = -119.231594; captureRadius = 10; duration = 62; initialDepth = 221.955338; finalDepth = 223.246631; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:223.246631 # Seafloor depth:-263.246631 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 62.348219 meters # Minimum depth: 261.955338 meters looking forward 0.000000 meters along route # Maximum depth: 261.955338 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 221.955338 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.113919; longitude = -119.231992; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 222.303534; finalDepth = 221.955338; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:221.955338 # Seafloor depth:-261.955338 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 62.348219 meters # Minimum depth: 262.303534 meters looking forward 0.000000 meters along route # Maximum depth: 262.303534 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 222.303534 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.114428; longitude = -119.232136; captureRadius = 10; duration = 62; initialDepth = 219.312035; finalDepth = 222.303534; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:222.303534 # Seafloor depth:-262.303534 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 62.348219 meters # Minimum depth: 259.312035 meters looking forward 0.000000 meters along route # Maximum depth: 259.312035 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 219.312035 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.114940; longitude = -119.232281; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 220.365005; finalDepth = 219.312035; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:219.312035 # Seafloor depth:-259.312035 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 62.348219 meters # Minimum depth: 260.365005 meters looking forward 0.000000 meters along route # Maximum depth: 260.365005 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 220.365005 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.116113; longitude = -119.232281; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 215.665547; finalDepth = 220.365005; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:220.365005 # Seafloor depth:-260.365005 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 62.348219 meters # Minimum depth: 255.665547 meters looking forward 0.000000 meters along route # Maximum depth: 255.665547 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 215.665547 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.116331; longitude = -119.232569; captureRadius = 10; duration = 62; initialDepth = 211.877434; finalDepth = 215.665547; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:215.665547 # Seafloor depth:-255.665547 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 62.348219 meters # Minimum depth: 251.877434 meters looking forward 0.000000 meters along route # Maximum depth: 251.877434 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 211.877434 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.116714; longitude = -119.233075; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 211.801068; finalDepth = 211.877434; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:211.877434 # Seafloor depth:-251.877434 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 62.348219 meters # Minimum depth: 251.801068 meters looking forward 0.000000 meters along route # Maximum depth: 251.801068 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 211.801068 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.116861; longitude = -119.233219; captureRadius = 10; duration = 62; initialDepth = 209.548699; finalDepth = 211.801068; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:211.801068 # Seafloor depth:-251.801068 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 62.348219 meters # Minimum depth: 249.548699 meters looking forward 0.000000 meters along route # Maximum depth: 249.548699 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 209.548699 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.117302; longitude = -119.233653; captureRadius = 10; duration = 62; initialDepth = 212.697418; finalDepth = 209.548699; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:209.548699 # Seafloor depth:-249.548699 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 62.348219 meters # Minimum depth: 252.697418 meters looking forward 0.000000 meters along route # Maximum depth: 252.697418 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 212.697418 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.117706; longitude = -119.234050; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 209.303665; finalDepth = 212.697418; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:212.697418 # Seafloor depth:-252.697418 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 62.348219 meters # Minimum depth: 249.303665 meters looking forward 0.000000 meters along route # Maximum depth: 249.303665 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 209.303665 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.118878; longitude = -119.233990; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 209.698045; finalDepth = 209.303665; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:209.303665 # Seafloor depth:-249.303665 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 62.348219 meters # Minimum depth: 249.698045 meters looking forward 0.000000 meters along route # Maximum depth: 249.698045 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 209.698045 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.118906; longitude = -119.233978; captureRadius = 10; duration = 62; initialDepth = 206.847432; finalDepth = 209.698045; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:209.698045 # Seafloor depth:-249.698045 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 62.348219 meters # Minimum depth: 246.847432 meters looking forward 0.000000 meters along route # Maximum depth: 246.847432 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 206.847432 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.119396; longitude = -119.233761; captureRadius = 10; duration = 62; initialDepth = 205.216415; finalDepth = 206.847432; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:206.847432 # Seafloor depth:-246.847432 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 62.348219 meters # Minimum depth: 245.216415 meters looking forward 0.000000 meters along route # Maximum depth: 245.216415 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 205.216415 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.120020; longitude = -119.233485; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 203.897818; finalDepth = 205.216415; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:205.216415 # Seafloor depth:-245.216415 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 62.348219 meters # Minimum depth: 243.897818 meters looking forward 0.000000 meters along route # Maximum depth: 243.897818 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 203.897818 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.120193; longitude = -119.233111; captureRadius = 10; duration = 62; initialDepth = 200.700182; finalDepth = 203.897818; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:203.897818 # Seafloor depth:-243.897818 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 62.348219 meters # Minimum depth: 240.700182 meters looking forward 0.000000 meters along route # Maximum depth: 240.700182 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 200.700182 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.120443; longitude = -119.232569; captureRadius = 10; duration = 62; initialDepth = 198.675864; finalDepth = 200.700182; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:200.700182 # Seafloor depth:-240.700182 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 62.348219 meters # Minimum depth: 238.675864 meters looking forward 0.000000 meters along route # Maximum depth: 238.675864 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 198.675864 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.120693; longitude = -119.232028; captureRadius = 10; duration = 62; initialDepth = 195.819084; finalDepth = 198.675864; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:198.675864 # Seafloor depth:-238.675864 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 62.348219 meters # Minimum depth: 235.819084 meters looking forward 0.000000 meters along route # Maximum depth: 235.819084 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 195.819084 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.120922; longitude = -119.231533; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 196.516297; finalDepth = 195.819084; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:195.819084 # Seafloor depth:-235.819084 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 62.348219 meters # Minimum depth: 236.516297 meters looking forward 0.000000 meters along route # Maximum depth: 236.516297 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 196.516297 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.120939; longitude = -119.231486; captureRadius = 10; duration = 62; initialDepth = 192.005120; finalDepth = 196.516297; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:196.516297 # Seafloor depth:-236.516297 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 62.348219 meters # Minimum depth: 232.005120 meters looking forward 0.000000 meters along route # Maximum depth: 232.005120 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 192.005120 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.121130; longitude = -119.230944; captureRadius = 10; duration = 62; initialDepth = 183.707228; finalDepth = 192.005120; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:192.00512 # Seafloor depth:-232.005120 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 62.348219 meters # Minimum depth: 223.707228 meters looking forward 0.000000 meters along route # Maximum depth: 223.707228 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 183.707228 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.121322; longitude = -119.230403; captureRadius = 10; duration = 62; initialDepth = 180.480362; finalDepth = 183.707228; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:183.707228 # Seafloor depth:-223.707228 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 62.348219 meters # Minimum depth: 220.480362 meters looking forward 0.000000 meters along route # Maximum depth: 220.480362 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 180.480362 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.121514; longitude = -119.229861; captureRadius = 10; duration = 62; initialDepth = 177.714083; finalDepth = 180.480362; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:180.480362 # Seafloor depth:-220.480362 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 62.348219 meters # Minimum depth: 217.714083 meters looking forward 0.000000 meters along route # Maximum depth: 217.714083 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 177.714083 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.121705; longitude = -119.229319; captureRadius = 10; duration = 62; initialDepth = 174.868019; finalDepth = 177.714083; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:177.714083 # Seafloor depth:-217.714083 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 62.348219 meters # Minimum depth: 214.868019 meters looking forward 0.000000 meters along route # Maximum depth: 214.868019 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 174.868019 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.121884; longitude = -119.228814; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 175.065372; finalDepth = 174.868019; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:174.868019 # Seafloor depth:-214.868019 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 62.348219 meters # Minimum depth: 215.065372 meters looking forward 0.000000 meters along route # Maximum depth: 215.065372 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 175.065372 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.121897; longitude = -119.228778; captureRadius = 10; duration = 62; initialDepth = 174.623035; finalDepth = 175.065372; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:175.065372 # Seafloor depth:-215.065372 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 62.348219 meters # Minimum depth: 214.623035 meters looking forward 0.000000 meters along route # Maximum depth: 214.623035 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 174.623035 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.122096; longitude = -119.228236; captureRadius = 10; duration = 62; initialDepth = 173.158817; finalDepth = 174.623035; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:174.623035 # Seafloor depth:-214.623035 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 62.348219 meters # Minimum depth: 213.158817 meters looking forward 0.000000 meters along route # Maximum depth: 213.158817 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 173.158817 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.122294; longitude = -119.227694; captureRadius = 10; duration = 62; initialDepth = 169.607580; finalDepth = 173.158817; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:173.158817 # Seafloor depth:-213.158817 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 62.348219 meters # Minimum depth: 209.607580 meters looking forward 0.000000 meters along route # Maximum depth: 209.607580 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 169.607580 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.122493; longitude = -119.227153; captureRadius = 10; duration = 62; initialDepth = 166.780267; finalDepth = 169.607580; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:169.60758 # Seafloor depth:-209.607580 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 62.348219 meters # Minimum depth: 206.780267 meters looking forward 0.000000 meters along route # Maximum depth: 206.780267 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 166.780267 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.122691; longitude = -119.226611; captureRadius = 10; duration = 62; initialDepth = 168.177052; finalDepth = 166.780267; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:166.780267 # Seafloor depth:-206.780267 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 62.348219 meters # Minimum depth: 208.177052 meters looking forward 0.000000 meters along route # Maximum depth: 208.177052 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 168.177052 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.122876; longitude = -119.226106; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 168.207753; finalDepth = 168.177052; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:168.177052 # Seafloor depth:-208.177052 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 62.348219 meters # Minimum depth: 208.207753 meters looking forward 0.000000 meters along route # Maximum depth: 208.207753 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 168.207753 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.122880; longitude = -119.225853; captureRadius = 10; duration = 62; initialDepth = 167.758741; finalDepth = 168.207753; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:168.207753 # Seafloor depth:-208.207753 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 62.348219 meters # Minimum depth: 207.758741 meters looking forward 0.000000 meters along route # Maximum depth: 207.758741 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 167.758741 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.122889; longitude = -119.225203; captureRadius = 10; duration = 62; initialDepth = 160.073181; finalDepth = 167.758741; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:167.758741 # Seafloor depth:-207.758741 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 62.348219 meters # Minimum depth: 200.073181 meters looking forward 0.000000 meters along route # Maximum depth: 200.073181 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 160.073181 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.122898; longitude = -119.224553; captureRadius = 10; duration = 62; initialDepth = 152.895817; finalDepth = 160.073181; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:160.073181 # Seafloor depth:-200.073181 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 62.348219 meters # Minimum depth: 192.895817 meters looking forward 0.000000 meters along route # Maximum depth: 192.895817 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 152.895817 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.122906; longitude = -119.223945; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 151.011734; finalDepth = 152.895817; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:152.895817 # Seafloor depth:-192.895817 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 62.348219 meters # Minimum depth: 191.011734 meters looking forward 0.000000 meters along route # Maximum depth: 191.011734 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 151.011734 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.123090; longitude = -119.223794; captureRadius = 10; duration = 62; initialDepth = 149.014391; finalDepth = 151.011734; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:151.011734 # Seafloor depth:-191.011734 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 62.348219 meters # Minimum depth: 189.014391 meters looking forward 0.000000 meters along route # Maximum depth: 189.014391 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 149.014391 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.123487; longitude = -119.223469; captureRadius = 10; duration = 62; initialDepth = 147.941467; finalDepth = 149.014391; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:149.014391 # Seafloor depth:-189.014391 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 62.348219 meters # Minimum depth: 187.941467 meters looking forward 0.000000 meters along route # Maximum depth: 187.941467 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 147.941467 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.123928; longitude = -119.223108; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 148.144985; finalDepth = 147.941467; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:147.941467 # Seafloor depth:-187.941467 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 62.348219 meters # Minimum depth: 188.144985 meters looking forward 0.000000 meters along route # Maximum depth: 188.144985 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 148.144985 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.124326; longitude = -119.222928; captureRadius = 10; duration = 62; initialDepth = 144.841964; finalDepth = 148.144985; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:148.144985 # Seafloor depth:-188.144985 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 62.348219 meters # Minimum depth: 184.841964 meters looking forward 0.000000 meters along route # Maximum depth: 184.841964 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 144.841964 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.124805; longitude = -119.222711; captureRadius = 10; duration = 62; initialDepth = 144.395889; finalDepth = 144.841964; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:144.841964 # Seafloor depth:-184.841964 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 62.348219 meters # Minimum depth: 184.395889 meters looking forward 0.000000 meters along route # Maximum depth: 184.395889 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 144.395889 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.125430; longitude = -119.222428; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 142.962443; finalDepth = 144.395889; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:144.395889 # Seafloor depth:-184.395889 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 62.348219 meters # Minimum depth: 182.962443 meters looking forward 0.000000 meters along route # Maximum depth: 182.962443 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 142.962443 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.125642; longitude = -119.222386; captureRadius = 10; duration = 62; initialDepth = 140.758509; finalDepth = 142.962443; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:142.962443 # Seafloor depth:-182.962443 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 62.348219 meters # Minimum depth: 180.758509 meters looking forward 0.000000 meters along route # Maximum depth: 180.758509 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 140.758509 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.126191; longitude = -119.222278; captureRadius = 10; duration = 62; initialDepth = 139.874319; finalDepth = 140.758509; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:140.758509 # Seafloor depth:-180.758509 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 62.348219 meters # Minimum depth: 179.874319 meters looking forward 0.000000 meters along route # Maximum depth: 179.874319 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 139.874319 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.126740; longitude = -119.222169; captureRadius = 10; duration = 62; initialDepth = 135.799667; finalDepth = 139.874319; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:139.874319 # Seafloor depth:-179.874319 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 62.348219 meters # Minimum depth: 175.799667 meters looking forward 0.000000 meters along route # Maximum depth: 175.799667 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 135.799667 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.127655; longitude = -119.221989; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 125.619549; finalDepth = 135.799667; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:135.799667 # Seafloor depth:-175.799667 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 62.348219 meters # Minimum depth: 165.619549 meters looking forward 0.000000 meters along route # Maximum depth: 165.619549 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 125.619549 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.129368; longitude = -119.221989; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 121.473147; finalDepth = 125.619549; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:125.619549 # Seafloor depth:-165.619549 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 62.348219 meters # Minimum depth: 161.473147 meters looking forward 0.000000 meters along route # Maximum depth: 161.473147 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 121.473147 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.129872; longitude = -119.222169; captureRadius = 10; duration = 62; initialDepth = 118.225731; finalDepth = 121.473147; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:121.473147 # Seafloor depth:-161.473147 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 62.348219 meters # Minimum depth: 158.225731 meters looking forward 0.000000 meters along route # Maximum depth: 158.225731 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 118.225731 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.130478; longitude = -119.222386; captureRadius = 10; duration = 62; initialDepth = 113.379612; finalDepth = 118.225731; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:118.225731 # Seafloor depth:-158.225731 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 62.348219 meters # Minimum depth: 153.379612 meters looking forward 0.000000 meters along route # Maximum depth: 153.379612 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 113.379612 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.131201; longitude = -119.222645; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 112.457597; finalDepth = 113.379612; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:113.379612 # Seafloor depth:-153.379612 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 62.348219 meters # Minimum depth: 152.457597 meters looking forward 0.000000 meters along route # Maximum depth: 152.457597 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 112.457597 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.131309; longitude = -119.222711; captureRadius = 10; duration = 62; initialDepth = 108.728630; finalDepth = 112.457597; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:112.457597 # Seafloor depth:-152.457597 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 62.348219 meters # Minimum depth: 148.728630 meters looking forward 0.000000 meters along route # Maximum depth: 148.728630 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 108.728630 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.131841; longitude = -119.223036; captureRadius = 10; duration = 62; initialDepth = 100.775921; finalDepth = 108.728630; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:108.72863 # Seafloor depth:-148.728630 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 62.348219 meters # Minimum depth: 140.775921 meters looking forward 0.000000 meters along route # Maximum depth: 140.775921 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 100.775921 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.132254; longitude = -119.223289; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 90.099856; finalDepth = 100.775921; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:100.775921 # Seafloor depth:-140.775921 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 62.348219 meters # Minimum depth: 130.099856 meters looking forward 0.000000 meters along route # Maximum depth: 130.099856 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 90.099856 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.132587; longitude = -119.223036; captureRadius = 10; duration = 62; initialDepth = 74.254444; finalDepth = 90.099856; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:90.099856 # Seafloor depth:-130.099856 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 62.348219 meters # Minimum depth: 114.254444 meters looking forward 0.000000 meters along route # Maximum depth: 114.254444 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 74.254444 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.133014; longitude = -119.222711; captureRadius = 10; duration = 62; initialDepth = 55.880947; finalDepth = 74.254444; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:74.254444 # Seafloor depth:-114.254444 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 62.348219 meters # Minimum depth: 95.880947 meters looking forward 0.000000 meters along route # Maximum depth: 95.880947 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 55.880947 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.133442; longitude = -119.222386; captureRadius = 10; duration = 62; initialDepth = 50.405657; finalDepth = 55.880947; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:55.880947 # Seafloor depth:-95.880947 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 62.348219 meters # Minimum depth: 90.405657 meters looking forward 0.000000 meters along route # Maximum depth: 90.405657 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 50.405657 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.133869; longitude = -119.222061; captureRadius = 10; duration = 62; initialDepth = 50.990193; finalDepth = 50.405657; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:50.405657 # Seafloor depth:-90.405657 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 62.348219 meters # Minimum depth: 90.990193 meters looking forward 0.000000 meters along route # Maximum depth: 90.990193 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 50.990193 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.134296; longitude = -119.221736; captureRadius = 10; duration = 62; initialDepth = 38.187900; finalDepth = 50.990193; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:50.990193 # Seafloor depth:-90.990193 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 62.348219 meters # Minimum depth: 78.187900 meters looking forward 0.000000 meters along route # Maximum depth: 78.187900 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 38.187900 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.134724; longitude = -119.221411; captureRadius = 10; duration = 62; initialDepth = 39.288643; finalDepth = 38.187900; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:38.1879 # Seafloor depth:-78.187900 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # ####################################################### # Turn Mapping sonars on and start logging. # behavior reson { duration = 6; Log_Mode = 1; } # Set sonar parameters # Commanded altitude: 40 # Sonar parameter altitude: 50 # Commanded vehicle depth:39.288643 # Seafloor depth:-79.288643 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Gain = 128.0; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_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 = 1; Window_Size = 200; Log_Mode = 0; } # ####################################################### # # Waypoint_depth behavior to get to start of line 1 # Segment length 62.348219 meters # Minimum depth: 79.288643 meters looking forward 0.000000 meters along route # Maximum depth: 79.288643 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 630.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 39.288643 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.135199; longitude = -119.221050; captureRadius = 10; duration = 300; initialDepth = 39.288643; finalDepth = 39.288643; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 213.548654; 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 = 213.548654; speed = 1.500000; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = 600; minHits = 2; abortOnTimeout = True; } ####################################################### # Set sonar parameters, turn pinging on, power zero and logging off # behavior reson { duration = 6; MB_Mode = 1; Log_Mode = 0; SBP_Mode = 0; SBP_Power = 0.0; SBP_Gain = 128.0; SBP_Duration = 450.000; LoSS_Mode = 0; LoSS_Power = 0.0; LoSS_Range = 200.00; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 200; MB_Power = 0; MB_Range = 160.00; MB_Rate = 2; MB_Gain = 70; 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 = 1; Window_Size = 200; } # 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