# 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: LaJolla_2v2.rte # Mission File: LaJolla_2v2.cfg # Distance: 91996.659499 (m) # Estimated Time: 62615 (s) 17.393 (hr) # Abort Time: 62293 (s) # Max battery life: 64800 (s) # Safety margin: 1800 (s) # Ascend time: 706 (s) # Way Points: 65 # Route Points: 1604 # 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: 800 (m) # Abort Vehicle Depth: 825 (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 -117.362252 32.748821 -104.124365 0.000000 3 # 1 -117.431847 32.707638 -536.457474 7960.514519 1 # 2 -117.444998 32.706616 -579.281906 9198.290560 1 # 3 -117.455519 32.707638 -606.606644 10190.861701 1 # 4 -117.461420 32.712207 -632.857498 10940.809237 1 # 5 -117.465969 32.717918 -686.145630 11704.074365 1 # 6 -117.470803 32.726456 -749.502670 12753.394188 1 # 7 -117.481680 32.750624 -850.337509 15619.886381 1 # 8 -117.487296 32.769142 -839.312454 17739.096163 1 # 9 -117.516726 32.793311 -910.730331 21582.904657 4 # 10 -117.515589 32.794453 -910.967026 21748.320470 3 # 11 -117.485945 32.769923 -831.000351 25634.401180 1 # 12 -117.480187 32.750985 -850.358719 27802.015469 1 # 13 -117.468955 32.727117 -715.572403 30649.568721 1 # 14 -117.464192 32.718700 -656.312881 31683.915179 1 # 15 -117.459998 32.713229 -622.653534 32406.638899 1 # 16 -117.454595 32.709321 -597.334717 33073.050555 1 # 17 -117.445283 32.708359 -577.785400 33952.295361 1 # 18 -117.436468 32.708960 -542.512115 34781.151095 4 # 19 -117.436112 32.705473 -543.601715 35169.147444 3 # 20 -117.444998 32.704812 -576.463455 36005.225416 1 # 21 -117.456586 32.706195 -593.782364 37102.101615 1 # 22 -117.463197 32.711245 -613.092590 37937.160518 1 # 23 -117.468031 32.717257 -638.098969 38743.032125 1 # 24 -117.471016 32.723029 -689.497665 39441.375766 1 # 25 -117.471870 32.726275 -752.499283 39810.011543 1 # 26 -117.473362 32.728259 -741.411194 40070.627267 1 # 27 -117.483599 32.750083 -834.111710 42673.178195 1 # 28 -117.488717 32.768300 -841.625076 44748.813598 1 # 29 -117.517508 32.791747 -912.215652 48493.981311 4 # 30 -117.513883 32.794814 -906.893707 48974.415331 3 # 31 -117.484523 32.770765 -821.152069 52804.218491 1 # 32 -117.478978 32.752729 -827.675171 54870.024476 1 # 33 -117.485945 32.754232 -840.261505 55543.606184 1 # 34 -117.490281 32.767158 -842.931473 57033.012879 1 # 35 -117.517935 32.790485 -913.947525 60692.879708 3 # 36 -117.510968 32.793671 -906.040939 61434.725115 1 # 37 -117.507058 32.790665 -906.506973 61929.796111 1 # 38 -117.513669 32.784894 -909.936493 62820.046322 1 # 39 -117.504997 32.778160 -903.687683 63923.148212 1 # 40 -117.494262 32.779843 -864.806870 64945.653242 1 # 41 -117.490495 32.776356 -900.305542 65468.998380 1 # 42 -117.490281 32.768781 -855.672806 66308.994014 1 # 43 -117.483386 32.768661 -819.071625 66954.924967 1 # 44 -117.478694 32.755314 -826.460342 68498.446413 1 # 45 -117.479547 32.753510 -839.758484 68713.807529 1 # 46 -117.478125 32.750204 -790.165649 69103.763963 1 # 47 -117.470448 32.734332 -707.483551 71004.633654 1 # 48 -117.476988 32.732408 -743.350647 71653.477978 1 # 49 -117.485092 32.749362 -798.159012 73680.537916 1 # 50 -117.475922 32.747197 -741.339203 74572.503921 1 # 51 -117.477414 32.734933 -734.288422 75939.236444 1 # 52 -117.470448 32.733430 -712.323105 76612.862992 1 # 53 -117.462912 32.719602 -643.744125 78300.635966 1 # 54 -117.458718 32.714131 -613.894516 79023.357516 1 # 55 -117.461491 32.708179 -587.702560 79732.518855 1 # 56 -117.457865 32.705293 -577.329498 80199.269277 3 # 57 -117.438600 32.686054 -478.323624 82993.878035 3 # 58 -117.433127 32.696455 -492.748032 84255.892340 3 # 59 -117.451681 32.685994 -497.099747 86346.337865 3 # 60 -117.456372 32.691766 -524.122879 87122.748928 3 # 61 -117.435693 32.703177 -533.204427 89437.343282 3 # 62 -117.444976 32.702771 -550.245524 90308.622032 1 # 63 -117.455060 32.704395 -574.220378 91270.737842 3 # 64 -117.452659 32.710621 -588.995646 91996.659499 4 # # A total of 1604 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 64000; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 800.000000; abortDepth = 825.000000; 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 = 706; horizontalMode = rudder; horizontal = 3.000000; pitch = 45.000000; speed = 1.500000; endDepth = 2.000000; } # # Acoustic update - sent status ping after end of survey # behavior acousticUpdate { duration = 2; dummy = 1; } # # 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 64 # Segment length 50.186748 meters # Minimum depth: 588.995646 meters looking forward 0.000000 meters along route # Maximum depth: 588.995646 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 548.995646 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.710621; longitude = -117.452659; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 548.875959; finalDepth = 548.995646; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:548.995646 # Seafloor depth:-588.995646 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 588.875959 meters looking forward 0.000000 meters along route # Maximum depth: 588.875959 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 548.875959 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.710395; longitude = -117.452746; captureRadius = 10; duration = 50; initialDepth = 547.889262; finalDepth = 548.875959; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:548.875959 # Seafloor depth:-588.875959 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 587.889262 meters looking forward 0.000000 meters along route # Maximum depth: 587.889262 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 547.889262 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.709929; longitude = -117.452926; captureRadius = 10; duration = 50; initialDepth = 548.804312; finalDepth = 547.889262; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:547.889262 # Seafloor depth:-587.889262 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 588.804312 meters looking forward 0.000000 meters along route # Maximum depth: 588.804312 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 548.804312 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.709448; longitude = -117.453111; captureRadius = 10; duration = 50; initialDepth = 550.246588; finalDepth = 548.804312; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:548.804312 # Seafloor depth:-588.804312 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 590.246588 meters looking forward 0.000000 meters along route # Maximum depth: 590.246588 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 550.246588 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.708906; longitude = -117.453320; captureRadius = 10; duration = 50; initialDepth = 551.586759; finalDepth = 550.246588; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:550.246588 # Seafloor depth:-590.246588 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 591.586759 meters looking forward 0.000000 meters along route # Maximum depth: 591.586759 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 551.586759 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.708365; longitude = -117.453529; captureRadius = 10; duration = 50; initialDepth = 553.791857; finalDepth = 551.586759; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:551.586759 # Seafloor depth:-591.586759 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 593.791857 meters looking forward 0.000000 meters along route # Maximum depth: 593.791857 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 553.791857 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.707854; longitude = -117.453726; captureRadius = 10; duration = 50; initialDepth = 556.262393; finalDepth = 553.791857; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:553.791857 # Seafloor depth:-593.791857 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 596.262393 meters looking forward 0.000000 meters along route # Maximum depth: 596.262393 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 556.262393 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.707418; longitude = -117.453894; captureRadius = 10; duration = 50; initialDepth = 560.809219; finalDepth = 556.262393; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:556.262393 # Seafloor depth:-596.262393 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 600.809219 meters looking forward 0.000000 meters along route # Maximum depth: 600.809219 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 560.809219 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.706876; longitude = -117.454103; captureRadius = 10; duration = 50; initialDepth = 560.402120; finalDepth = 560.809219; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:560.809219 # Seafloor depth:-600.809219 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 600.402120 meters looking forward 0.000000 meters along route # Maximum depth: 600.402120 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 560.402120 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.706335; longitude = -117.454312; captureRadius = 10; duration = 50; initialDepth = 553.556499; finalDepth = 560.402120; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:560.40212 # Seafloor depth:-600.402120 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 593.556499 meters looking forward 0.000000 meters along route # Maximum depth: 593.556499 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 553.556499 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.705793; longitude = -117.454521; captureRadius = 10; duration = 50; initialDepth = 547.806463; finalDepth = 553.556499; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:553.556499 # Seafloor depth:-593.556499 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 587.806463 meters looking forward 0.000000 meters along route # Maximum depth: 587.806463 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 547.806463 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.705363; longitude = -117.454686; captureRadius = 10; duration = 50; initialDepth = 539.172157; finalDepth = 547.806463; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:547.806463 # Seafloor depth:-587.806463 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 579.172157 meters looking forward 0.000000 meters along route # Maximum depth: 579.172157 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 539.172157 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.704846; longitude = -117.454886; captureRadius = 10; duration = 50; initialDepth = 534.220378; finalDepth = 539.172157; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:539.172157 # Seafloor depth:-579.172157 # 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 = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_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 63 # Segment length 50.186748 meters # Minimum depth: 574.220378 meters looking forward 0.000000 meters along route # Maximum depth: 574.220378 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 534.220378 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.704395; longitude = -117.455060; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 534.116540; finalDepth = 534.220378; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:534.220378 # Seafloor depth:-574.220378 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 574.116540 meters looking forward 0.000000 meters along route # Maximum depth: 574.116540 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 534.116540 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.704361; longitude = -117.454846; captureRadius = 10; duration = 50; initialDepth = 534.926444; finalDepth = 534.116540; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:534.11654 # Seafloor depth:-574.116540 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 574.926444 meters looking forward 0.000000 meters along route # Maximum depth: 574.926444 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 534.926444 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.704257; longitude = -117.454206; captureRadius = 10; duration = 50; initialDepth = 533.836461; finalDepth = 534.926444; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:534.926444 # Seafloor depth:-574.926444 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 573.836461 meters looking forward 0.000000 meters along route # Maximum depth: 573.836461 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 533.836461 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.704169; longitude = -117.453659; captureRadius = 10; duration = 50; initialDepth = 532.535491; finalDepth = 533.836461; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:533.836461 # Seafloor depth:-573.836461 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 572.535491 meters looking forward 0.000000 meters along route # Maximum depth: 572.535491 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 532.535491 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.704077; longitude = -117.453086; captureRadius = 10; duration = 50; initialDepth = 530.805725; finalDepth = 532.535491; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:532.535491 # Seafloor depth:-572.535491 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 570.805725 meters looking forward 0.000000 meters along route # Maximum depth: 570.805725 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 530.805725 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.703974; longitude = -117.452446; captureRadius = 10; duration = 50; initialDepth = 533.250947; finalDepth = 530.805725; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:530.805725 # Seafloor depth:-570.805725 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 573.250947 meters looking forward 0.000000 meters along route # Maximum depth: 573.250947 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 533.250947 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.703871; longitude = -117.451805; captureRadius = 10; duration = 50; initialDepth = 537.534821; finalDepth = 533.250947; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:533.250947 # Seafloor depth:-573.250947 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 577.534821 meters looking forward 0.000000 meters along route # Maximum depth: 577.534821 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 537.534821 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.703763; longitude = -117.451138; captureRadius = 10; duration = 50; initialDepth = 538.432996; finalDepth = 537.534821; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:537.534821 # Seafloor depth:-577.534821 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 578.432996 meters looking forward 0.000000 meters along route # Maximum depth: 578.432996 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 538.432996 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.703664; longitude = -117.450525; captureRadius = 10; duration = 50; initialDepth = 541.691958; finalDepth = 538.432996; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:538.432996 # Seafloor depth:-578.432996 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 581.691958 meters looking forward 0.000000 meters along route # Maximum depth: 581.691958 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 541.691958 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.703561; longitude = -117.449885; captureRadius = 10; duration = 50; initialDepth = 538.294178; finalDepth = 541.691958; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:541.691958 # Seafloor depth:-581.691958 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 578.294178 meters looking forward 0.000000 meters along route # Maximum depth: 578.294178 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 538.294178 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.703458; longitude = -117.449244; captureRadius = 10; duration = 50; initialDepth = 529.374161; finalDepth = 538.294178; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:538.294178 # Seafloor depth:-578.294178 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 569.374161 meters looking forward 0.000000 meters along route # Maximum depth: 569.374161 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 529.374161 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.703355; longitude = -117.448604; captureRadius = 10; duration = 50; initialDepth = 522.143392; finalDepth = 529.374161; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:529.374161 # Seafloor depth:-569.374161 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 562.143392 meters looking forward 0.000000 meters along route # Maximum depth: 562.143392 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 522.143392 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.703252; longitude = -117.447964; captureRadius = 10; duration = 50; initialDepth = 516.499939; finalDepth = 522.143392; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:522.143392 # Seafloor depth:-562.143392 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 556.499939 meters looking forward 0.000000 meters along route # Maximum depth: 556.499939 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 516.499939 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.703149; longitude = -117.447324; captureRadius = 10; duration = 50; initialDepth = 514.551085; finalDepth = 516.499939; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:516.499939 # Seafloor depth:-556.499939 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 554.551085 meters looking forward 0.000000 meters along route # Maximum depth: 554.551085 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 514.551085 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.703046; longitude = -117.446684; captureRadius = 10; duration = 50; initialDepth = 513.858561; finalDepth = 514.551085; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:514.551085 # Seafloor depth:-554.551085 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 553.858561 meters looking forward 0.000000 meters along route # Maximum depth: 553.858561 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 513.858561 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.702951; longitude = -117.446097; captureRadius = 10; duration = 50; initialDepth = 513.290678; finalDepth = 513.858561; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:513.858561 # Seafloor depth:-553.858561 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 553.290678 meters looking forward 0.000000 meters along route # Maximum depth: 553.290678 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 513.290678 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.702865; longitude = -117.445563; captureRadius = 10; duration = 50; initialDepth = 510.245524; finalDepth = 513.290678; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:513.290678 # Seafloor depth:-553.290678 # 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 = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 50.186748 meters # Minimum depth: 550.245524 meters looking forward 0.000000 meters along route # Maximum depth: 550.245524 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 510.245524 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.702771; longitude = -117.444976; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 509.644945; finalDepth = 510.245524; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:510.245524 # Seafloor depth:-550.245524 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 549.644945 meters looking forward 0.000000 meters along route # Maximum depth: 549.644945 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 509.644945 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.702787; longitude = -117.444603; captureRadius = 10; duration = 50; initialDepth = 505.525262; finalDepth = 509.644945; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:509.644945 # Seafloor depth:-549.644945 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 545.525262 meters looking forward 0.000000 meters along route # Maximum depth: 545.525262 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 505.525262 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.702816; longitude = -117.443945; captureRadius = 10; duration = 50; initialDepth = 501.036290; finalDepth = 505.525262; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:505.525262 # Seafloor depth:-545.525262 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 541.036290 meters looking forward 0.000000 meters along route # Maximum depth: 541.036290 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 501.036290 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.702843; longitude = -117.443322; captureRadius = 10; duration = 50; initialDepth = 498.706266; finalDepth = 501.036290; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:501.03629 # Seafloor depth:-541.036290 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 538.706266 meters looking forward 0.000000 meters along route # Maximum depth: 538.706266 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 498.706266 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.702871; longitude = -117.442682; captureRadius = 10; duration = 50; initialDepth = 497.619937; finalDepth = 498.706266; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:498.706266 # Seafloor depth:-538.706266 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 537.619937 meters looking forward 0.000000 meters along route # Maximum depth: 537.619937 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 497.619937 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.702899; longitude = -117.442042; captureRadius = 10; duration = 50; initialDepth = 495.846304; finalDepth = 497.619937; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:497.619937 # Seafloor depth:-537.619937 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 535.846304 meters looking forward 0.000000 meters along route # Maximum depth: 535.846304 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 495.846304 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.702927; longitude = -117.441402; captureRadius = 10; duration = 50; initialDepth = 495.046333; finalDepth = 495.846304; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:495.846304 # Seafloor depth:-535.846304 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 535.046333 meters looking forward 0.000000 meters along route # Maximum depth: 535.046333 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 495.046333 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.702955; longitude = -117.440761; captureRadius = 10; duration = 50; initialDepth = 493.281228; finalDepth = 495.046333; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:495.046333 # Seafloor depth:-535.046333 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 533.281228 meters looking forward 0.000000 meters along route # Maximum depth: 533.281228 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 493.281228 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.702983; longitude = -117.440121; captureRadius = 10; duration = 50; initialDepth = 491.400821; finalDepth = 493.281228; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:493.281228 # Seafloor depth:-533.281228 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 531.400821 meters looking forward 0.000000 meters along route # Maximum depth: 531.400821 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 491.400821 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.703011; longitude = -117.439481; captureRadius = 10; duration = 50; initialDepth = 490.709708; finalDepth = 491.400821; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:491.400821 # Seafloor depth:-531.400821 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 530.709708 meters looking forward 0.000000 meters along route # Maximum depth: 530.709708 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 490.709708 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.703039; longitude = -117.438841; captureRadius = 10; duration = 50; initialDepth = 489.652027; finalDepth = 490.709708; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:490.709708 # Seafloor depth:-530.709708 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 529.652027 meters looking forward 0.000000 meters along route # Maximum depth: 529.652027 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 489.652027 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.703067; longitude = -117.438201; captureRadius = 10; duration = 50; initialDepth = 489.791605; finalDepth = 489.652027; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:489.652027 # Seafloor depth:-529.652027 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 529.791605 meters looking forward 0.000000 meters along route # Maximum depth: 529.791605 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 489.791605 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.703095; longitude = -117.437560; captureRadius = 10; duration = 50; initialDepth = 489.947258; finalDepth = 489.791605; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:489.791605 # Seafloor depth:-529.791605 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 529.947258 meters looking forward 0.000000 meters along route # Maximum depth: 529.947258 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 489.947258 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.703123; longitude = -117.436920; captureRadius = 10; duration = 50; initialDepth = 491.774433; finalDepth = 489.947258; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:489.947258 # Seafloor depth:-529.947258 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 531.774433 meters looking forward 0.000000 meters along route # Maximum depth: 531.774433 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 491.774433 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.703151; longitude = -117.436280; captureRadius = 10; duration = 50; initialDepth = 493.204427; finalDepth = 491.774433; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:491.774433 # Seafloor depth:-531.774433 # 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 = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_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 61 # Segment length 50.186748 meters # Minimum depth: 533.204427 meters looking forward 0.000000 meters along route # Maximum depth: 533.204427 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 493.204427 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.703177; longitude = -117.435693; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 491.209335; finalDepth = 493.204427; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:493.204427 # Seafloor depth:-533.204427 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 531.209335 meters looking forward 0.000000 meters along route # Maximum depth: 531.209335 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 491.209335 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.702941; longitude = -117.436120; captureRadius = 10; duration = 50; initialDepth = 488.002685; finalDepth = 491.209335; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:491.209335 # Seafloor depth:-531.209335 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 528.002685 meters looking forward 0.000000 meters along route # Maximum depth: 528.002685 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 488.002685 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.702676; longitude = -117.436600; captureRadius = 10; duration = 50; initialDepth = 485.948065; finalDepth = 488.002685; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:488.002685 # Seafloor depth:-528.002685 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 525.948065 meters looking forward 0.000000 meters along route # Maximum depth: 525.948065 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 485.948065 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.702410; longitude = -117.437083; captureRadius = 10; duration = 50; initialDepth = 483.434874; finalDepth = 485.948065; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:485.948065 # Seafloor depth:-525.948065 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 523.434874 meters looking forward 0.000000 meters along route # Maximum depth: 523.434874 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 483.434874 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.702139; longitude = -117.437573; captureRadius = 10; duration = 50; initialDepth = 482.472335; finalDepth = 483.434874; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:483.434874 # Seafloor depth:-523.434874 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 522.472335 meters looking forward 0.000000 meters along route # Maximum depth: 522.472335 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 482.472335 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.701869; longitude = -117.438064; captureRadius = 10; duration = 50; initialDepth = 480.740091; finalDepth = 482.472335; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:482.472335 # Seafloor depth:-522.472335 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 520.740091 meters looking forward 0.000000 meters along route # Maximum depth: 520.740091 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 480.740091 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.701616; longitude = -117.438521; captureRadius = 10; duration = 50; initialDepth = 479.548627; finalDepth = 480.740091; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:480.740091 # Seafloor depth:-520.740091 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 519.548627 meters looking forward 0.000000 meters along route # Maximum depth: 519.548627 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 479.548627 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.701352; longitude = -117.439001; captureRadius = 10; duration = 50; initialDepth = 480.256490; finalDepth = 479.548627; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:479.548627 # Seafloor depth:-519.548627 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 520.256490 meters looking forward 0.000000 meters along route # Maximum depth: 520.256490 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 480.256490 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.701087; longitude = -117.439481; captureRadius = 10; duration = 50; initialDepth = 478.630870; finalDepth = 480.256490; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:480.25649 # Seafloor depth:-520.256490 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 518.630870 meters looking forward 0.000000 meters along route # Maximum depth: 518.630870 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 478.630870 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.700822; longitude = -117.439961; captureRadius = 10; duration = 50; initialDepth = 478.413721; finalDepth = 478.630870; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:478.63087 # Seafloor depth:-518.630870 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 518.413721 meters looking forward 0.000000 meters along route # Maximum depth: 518.413721 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 478.413721 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.700557; longitude = -117.440441; captureRadius = 10; duration = 50; initialDepth = 477.782717; finalDepth = 478.413721; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:478.413721 # Seafloor depth:-518.413721 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 517.782717 meters looking forward 0.000000 meters along route # Maximum depth: 517.782717 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 477.782717 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.700292; longitude = -117.440922; captureRadius = 10; duration = 50; initialDepth = 477.240436; finalDepth = 477.782717; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:477.782717 # Seafloor depth:-517.782717 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 517.240436 meters looking forward 0.000000 meters along route # Maximum depth: 517.240436 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 477.240436 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.700027; longitude = -117.441402; captureRadius = 10; duration = 50; initialDepth = 478.729546; finalDepth = 477.240436; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:477.240436 # Seafloor depth:-517.240436 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 518.729546 meters looking forward 0.000000 meters along route # Maximum depth: 518.729546 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 478.729546 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.699762; longitude = -117.441882; captureRadius = 10; duration = 50; initialDepth = 479.560497; finalDepth = 478.729546; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:478.729546 # Seafloor depth:-518.729546 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 519.560497 meters looking forward 0.000000 meters along route # Maximum depth: 519.560497 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 479.560497 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.699497; longitude = -117.442362; captureRadius = 10; duration = 50; initialDepth = 479.788911; finalDepth = 479.560497; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:479.560497 # Seafloor depth:-519.560497 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 519.788911 meters looking forward 0.000000 meters along route # Maximum depth: 519.788911 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 479.788911 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.699232; longitude = -117.442842; captureRadius = 10; duration = 50; initialDepth = 480.106782; finalDepth = 479.788911; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:479.788911 # Seafloor depth:-519.788911 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 520.106782 meters looking forward 0.000000 meters along route # Maximum depth: 520.106782 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 480.106782 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.698967; longitude = -117.443322; captureRadius = 10; duration = 50; initialDepth = 481.830639; finalDepth = 480.106782; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:480.106782 # Seafloor depth:-520.106782 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 521.830639 meters looking forward 0.000000 meters along route # Maximum depth: 521.830639 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 481.830639 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.698702; longitude = -117.443803; captureRadius = 10; duration = 50; initialDepth = 482.402026; finalDepth = 481.830639; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:481.830639 # Seafloor depth:-521.830639 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 522.402026 meters looking forward 0.000000 meters along route # Maximum depth: 522.402026 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 482.402026 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.698437; longitude = -117.444283; captureRadius = 10; duration = 50; initialDepth = 483.711626; finalDepth = 482.402026; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:482.402026 # Seafloor depth:-522.402026 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 523.711626 meters looking forward 0.000000 meters along route # Maximum depth: 523.711626 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 483.711626 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.698172; longitude = -117.444763; captureRadius = 10; duration = 50; initialDepth = 484.235724; finalDepth = 483.711626; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:483.711626 # Seafloor depth:-523.711626 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 524.235724 meters looking forward 0.000000 meters along route # Maximum depth: 524.235724 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 484.235724 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.697907; longitude = -117.445243; captureRadius = 10; duration = 50; initialDepth = 484.328129; finalDepth = 484.235724; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:484.235724 # Seafloor depth:-524.235724 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 524.328129 meters looking forward 0.000000 meters along route # Maximum depth: 524.328129 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 484.328129 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.697642; longitude = -117.445723; captureRadius = 10; duration = 50; initialDepth = 485.189033; finalDepth = 484.328129; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:484.328129 # Seafloor depth:-524.328129 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 525.189033 meters looking forward 0.000000 meters along route # Maximum depth: 525.189033 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 485.189033 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.697377; longitude = -117.446203; captureRadius = 10; duration = 50; initialDepth = 484.858584; finalDepth = 485.189033; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:485.189033 # Seafloor depth:-525.189033 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 524.858584 meters looking forward 0.000000 meters along route # Maximum depth: 524.858584 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 484.858584 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.697112; longitude = -117.446684; captureRadius = 10; duration = 50; initialDepth = 486.226780; finalDepth = 484.858584; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:484.858584 # Seafloor depth:-524.858584 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 526.226780 meters looking forward 0.000000 meters along route # Maximum depth: 526.226780 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 486.226780 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.696847; longitude = -117.447164; captureRadius = 10; duration = 50; initialDepth = 486.771752; finalDepth = 486.226780; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:486.22678 # Seafloor depth:-526.226780 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 526.771752 meters looking forward 0.000000 meters along route # Maximum depth: 526.771752 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 486.771752 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.696582; longitude = -117.447644; captureRadius = 10; duration = 50; initialDepth = 489.145304; finalDepth = 486.771752; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:486.771752 # Seafloor depth:-526.771752 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 529.145304 meters looking forward 0.000000 meters along route # Maximum depth: 529.145304 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 489.145304 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.696317; longitude = -117.448124; captureRadius = 10; duration = 50; initialDepth = 489.676549; finalDepth = 489.145304; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:489.145304 # Seafloor depth:-529.145304 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 529.676549 meters looking forward 0.000000 meters along route # Maximum depth: 529.676549 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 489.676549 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.696049; longitude = -117.448611; captureRadius = 10; duration = 50; initialDepth = 486.296395; finalDepth = 489.676549; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:489.676549 # Seafloor depth:-529.676549 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 526.296395 meters looking forward 0.000000 meters along route # Maximum depth: 526.296395 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 486.296395 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.695778; longitude = -117.449101; captureRadius = 10; duration = 50; initialDepth = 484.521303; finalDepth = 486.296395; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:486.296395 # Seafloor depth:-526.296395 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 524.521303 meters looking forward 0.000000 meters along route # Maximum depth: 524.521303 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 484.521303 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.695507; longitude = -117.449592; captureRadius = 10; duration = 50; initialDepth = 482.979498; finalDepth = 484.521303; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:484.521303 # Seafloor depth:-524.521303 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 522.979498 meters looking forward 0.000000 meters along route # Maximum depth: 522.979498 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 482.979498 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.695257; longitude = -117.450045; captureRadius = 10; duration = 50; initialDepth = 482.982290; finalDepth = 482.979498; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:482.979498 # Seafloor depth:-522.979498 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 522.982290 meters looking forward 0.000000 meters along route # Maximum depth: 522.982290 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 482.982290 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.694992; longitude = -117.450525; captureRadius = 10; duration = 50; initialDepth = 484.595261; finalDepth = 482.982290; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:482.98229 # Seafloor depth:-522.982290 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 524.595261 meters looking forward 0.000000 meters along route # Maximum depth: 524.595261 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 484.595261 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.694728; longitude = -117.451005; captureRadius = 10; duration = 50; initialDepth = 482.823466; finalDepth = 484.595261; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:484.595261 # Seafloor depth:-524.595261 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 522.823466 meters looking forward 0.000000 meters along route # Maximum depth: 522.823466 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 482.823466 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.694463; longitude = -117.451485; captureRadius = 10; duration = 50; initialDepth = 482.303604; finalDepth = 482.823466; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:482.823466 # Seafloor depth:-522.823466 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 522.303604 meters looking forward 0.000000 meters along route # Maximum depth: 522.303604 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 482.303604 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.694198; longitude = -117.451965; captureRadius = 10; duration = 50; initialDepth = 482.071654; finalDepth = 482.303604; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:482.303604 # Seafloor depth:-522.303604 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 522.071654 meters looking forward 0.000000 meters along route # Maximum depth: 522.071654 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 482.071654 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.693933; longitude = -117.452446; captureRadius = 10; duration = 50; initialDepth = 483.373012; finalDepth = 482.071654; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:482.071654 # Seafloor depth:-522.071654 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 523.373012 meters looking forward 0.000000 meters along route # Maximum depth: 523.373012 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 483.373012 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.693668; longitude = -117.452926; captureRadius = 10; duration = 50; initialDepth = 482.595506; finalDepth = 483.373012; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:483.373012 # Seafloor depth:-523.373012 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 522.595506 meters looking forward 0.000000 meters along route # Maximum depth: 522.595506 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 482.595506 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.693403; longitude = -117.453406; captureRadius = 10; duration = 50; initialDepth = 483.017354; finalDepth = 482.595506; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:482.595506 # Seafloor depth:-522.595506 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 523.017354 meters looking forward 0.000000 meters along route # Maximum depth: 523.017354 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 483.017354 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.693138; longitude = -117.453886; captureRadius = 10; duration = 50; initialDepth = 482.915300; finalDepth = 483.017354; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:483.017354 # Seafloor depth:-523.017354 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 522.915300 meters looking forward 0.000000 meters along route # Maximum depth: 522.915300 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 482.915300 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.692873; longitude = -117.454366; captureRadius = 10; duration = 50; initialDepth = 483.700565; finalDepth = 482.915300; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:482.9153 # Seafloor depth:-522.915300 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 523.700565 meters looking forward 0.000000 meters along route # Maximum depth: 523.700565 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 483.700565 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.692608; longitude = -117.454846; captureRadius = 10; duration = 50; initialDepth = 484.072070; finalDepth = 483.700565; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:483.700565 # Seafloor depth:-523.700565 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 524.072070 meters looking forward 0.000000 meters along route # Maximum depth: 524.072070 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 484.072070 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.692343; longitude = -117.455327; captureRadius = 10; duration = 50; initialDepth = 483.628775; finalDepth = 484.072070; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:484.07207 # Seafloor depth:-524.072070 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 523.628775 meters looking forward 0.000000 meters along route # Maximum depth: 523.628775 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 483.628775 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.692078; longitude = -117.455807; captureRadius = 10; duration = 50; initialDepth = 484.122879; finalDepth = 483.628775; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:483.628775 # Seafloor depth:-523.628775 # 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 = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_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 60 # Segment length 50.186748 meters # Minimum depth: 524.122879 meters looking forward 0.000000 meters along route # Maximum depth: 524.122879 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 484.122879 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.691766; longitude = -117.456372; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 483.628997; finalDepth = 484.122879; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:484.122879 # Seafloor depth:-524.122879 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 523.628997 meters looking forward 0.000000 meters along route # Maximum depth: 523.628997 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 483.628997 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.691661; longitude = -117.456287; captureRadius = 10; duration = 50; initialDepth = 482.200718; finalDepth = 483.628997; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:483.628997 # Seafloor depth:-523.628997 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 522.200718 meters looking forward 0.000000 meters along route # Maximum depth: 522.200718 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 482.200718 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.691267; longitude = -117.455967; captureRadius = 10; duration = 50; initialDepth = 480.321663; finalDepth = 482.200718; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:482.200718 # Seafloor depth:-522.200718 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 520.321663 meters looking forward 0.000000 meters along route # Maximum depth: 520.321663 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 480.321663 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.690874; longitude = -117.455647; captureRadius = 10; duration = 50; initialDepth = 478.748457; finalDepth = 480.321663; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:480.321663 # Seafloor depth:-520.321663 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 518.748457 meters looking forward 0.000000 meters along route # Maximum depth: 518.748457 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 478.748457 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.690480; longitude = -117.455327; captureRadius = 10; duration = 50; initialDepth = 476.264263; finalDepth = 478.748457; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:478.748457 # Seafloor depth:-518.748457 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 516.264263 meters looking forward 0.000000 meters along route # Maximum depth: 516.264263 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 476.264263 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.690086; longitude = -117.455006; captureRadius = 10; duration = 50; initialDepth = 475.083066; finalDepth = 476.264263; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:476.264263 # Seafloor depth:-516.264263 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 515.083066 meters looking forward 0.000000 meters along route # Maximum depth: 515.083066 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 475.083066 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.689688; longitude = -117.454683; captureRadius = 10; duration = 50; initialDepth = 473.145686; finalDepth = 475.083066; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:475.083066 # Seafloor depth:-515.083066 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 513.145686 meters looking forward 0.000000 meters along route # Maximum depth: 513.145686 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 473.145686 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.689282; longitude = -117.454353; captureRadius = 10; duration = 50; initialDepth = 470.989683; finalDepth = 473.145686; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:473.145686 # Seafloor depth:-513.145686 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 510.989683 meters looking forward 0.000000 meters along route # Maximum depth: 510.989683 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 470.989683 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.688876; longitude = -117.454023; captureRadius = 10; duration = 50; initialDepth = 468.996623; finalDepth = 470.989683; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:470.989683 # Seafloor depth:-510.989683 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 508.996623 meters looking forward 0.000000 meters along route # Maximum depth: 508.996623 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 468.996623 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.688470; longitude = -117.453693; captureRadius = 10; duration = 50; initialDepth = 467.209173; finalDepth = 468.996623; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:468.996623 # Seafloor depth:-508.996623 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 507.209173 meters looking forward 0.000000 meters along route # Maximum depth: 507.209173 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 467.209173 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.688064; longitude = -117.453363; captureRadius = 10; duration = 50; initialDepth = 465.212595; finalDepth = 467.209173; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:467.209173 # Seafloor depth:-507.209173 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 505.212595 meters looking forward 0.000000 meters along route # Maximum depth: 505.212595 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 465.212595 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.687658; longitude = -117.453033; captureRadius = 10; duration = 50; initialDepth = 463.654515; finalDepth = 465.212595; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:465.212595 # Seafloor depth:-505.212595 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 503.654515 meters looking forward 0.000000 meters along route # Maximum depth: 503.654515 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 463.654515 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.687252; longitude = -117.452703; captureRadius = 10; duration = 50; initialDepth = 462.011056; finalDepth = 463.654515; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:463.654515 # Seafloor depth:-503.654515 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 502.011056 meters looking forward 0.000000 meters along route # Maximum depth: 502.011056 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 462.011056 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.686846; longitude = -117.452373; captureRadius = 10; duration = 50; initialDepth = 460.073683; finalDepth = 462.011056; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:462.011056 # Seafloor depth:-502.011056 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 500.073683 meters looking forward 0.000000 meters along route # Maximum depth: 500.073683 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 460.073683 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.686440; longitude = -117.452043; captureRadius = 10; duration = 50; initialDepth = 457.099747; finalDepth = 460.073683; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:460.073683 # Seafloor depth:-500.073683 # 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 = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_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 59 # Segment length 50.186748 meters # Minimum depth: 497.099747 meters looking forward 0.000000 meters along route # Maximum depth: 497.099747 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 457.099747 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.685994; longitude = -117.451681; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 458.120832; finalDepth = 457.099747; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:457.099747 # Seafloor depth:-497.099747 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 498.120832 meters looking forward 0.000000 meters along route # Maximum depth: 498.120832 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 458.120832 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.686169; longitude = -117.451371; captureRadius = 10; duration = 50; initialDepth = 459.180348; finalDepth = 458.120832; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:458.120832 # Seafloor depth:-498.120832 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 499.180348 meters looking forward 0.000000 meters along route # Maximum depth: 499.180348 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 459.180348 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.686440; longitude = -117.450891; captureRadius = 10; duration = 50; initialDepth = 457.638035; finalDepth = 459.180348; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:459.180348 # Seafloor depth:-499.180348 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 497.638035 meters looking forward 0.000000 meters along route # Maximum depth: 497.638035 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 457.638035 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.686710; longitude = -117.450411; captureRadius = 10; duration = 50; initialDepth = 456.407918; finalDepth = 457.638035; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:457.638035 # Seafloor depth:-497.638035 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 496.407918 meters looking forward 0.000000 meters along route # Maximum depth: 496.407918 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 456.407918 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.686981; longitude = -117.449931; captureRadius = 10; duration = 50; initialDepth = 455.450464; finalDepth = 456.407918; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:456.407918 # Seafloor depth:-496.407918 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 495.450464 meters looking forward 0.000000 meters along route # Maximum depth: 495.450464 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 455.450464 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.687252; longitude = -117.449450; captureRadius = 10; duration = 50; initialDepth = 456.029435; finalDepth = 455.450464; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:455.450464 # Seafloor depth:-495.450464 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 496.029435 meters looking forward 0.000000 meters along route # Maximum depth: 496.029435 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 456.029435 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.687522; longitude = -117.448970; captureRadius = 10; duration = 50; initialDepth = 455.574425; finalDepth = 456.029435; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:456.029435 # Seafloor depth:-496.029435 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 495.574425 meters looking forward 0.000000 meters along route # Maximum depth: 495.574425 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 455.574425 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.687793; longitude = -117.448490; captureRadius = 10; duration = 50; initialDepth = 454.831656; finalDepth = 455.574425; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:455.574425 # Seafloor depth:-495.574425 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 494.831656 meters looking forward 0.000000 meters along route # Maximum depth: 494.831656 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 454.831656 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.688064; longitude = -117.448010; captureRadius = 10; duration = 50; initialDepth = 453.580497; finalDepth = 454.831656; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:454.831656 # Seafloor depth:-494.831656 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 493.580497 meters looking forward 0.000000 meters along route # Maximum depth: 493.580497 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 453.580497 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.688334; longitude = -117.447530; captureRadius = 10; duration = 50; initialDepth = 453.411310; finalDepth = 453.580497; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:453.580497 # Seafloor depth:-493.580497 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 493.411310 meters looking forward 0.000000 meters along route # Maximum depth: 493.411310 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 453.411310 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.688605; longitude = -117.447050; captureRadius = 10; duration = 50; initialDepth = 453.013478; finalDepth = 453.411310; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:453.41131 # Seafloor depth:-493.411310 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 493.013478 meters looking forward 0.000000 meters along route # Maximum depth: 493.013478 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 453.013478 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.688876; longitude = -117.446570; captureRadius = 10; duration = 50; initialDepth = 453.166963; finalDepth = 453.013478; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:453.013478 # Seafloor depth:-493.013478 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 493.166963 meters looking forward 0.000000 meters along route # Maximum depth: 493.166963 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 453.166963 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.689146; longitude = -117.446090; captureRadius = 10; duration = 50; initialDepth = 454.101248; finalDepth = 453.166963; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:453.166963 # Seafloor depth:-493.166963 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 494.101248 meters looking forward 0.000000 meters along route # Maximum depth: 494.101248 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 454.101248 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.689417; longitude = -117.445610; captureRadius = 10; duration = 50; initialDepth = 456.105537; finalDepth = 454.101248; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:454.101248 # Seafloor depth:-494.101248 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 496.105537 meters looking forward 0.000000 meters along route # Maximum depth: 496.105537 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 456.105537 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.689688; longitude = -117.445130; captureRadius = 10; duration = 50; initialDepth = 457.804233; finalDepth = 456.105537; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:456.105537 # Seafloor depth:-496.105537 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 497.804233 meters looking forward 0.000000 meters along route # Maximum depth: 497.804233 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 457.804233 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.689958; longitude = -117.444650; captureRadius = 10; duration = 50; initialDepth = 460.087178; finalDepth = 457.804233; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:457.804233 # Seafloor depth:-497.804233 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 500.087178 meters looking forward 0.000000 meters along route # Maximum depth: 500.087178 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 460.087178 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.690229; longitude = -117.444169; captureRadius = 10; duration = 50; initialDepth = 462.038336; finalDepth = 460.087178; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:460.087178 # Seafloor depth:-500.087178 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 502.038336 meters looking forward 0.000000 meters along route # Maximum depth: 502.038336 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 462.038336 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.690500; longitude = -117.443689; captureRadius = 10; duration = 50; initialDepth = 466.115372; finalDepth = 462.038336; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:462.038336 # Seafloor depth:-502.038336 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 506.115372 meters looking forward 0.000000 meters along route # Maximum depth: 506.115372 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 466.115372 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.690771; longitude = -117.443209; captureRadius = 10; duration = 50; initialDepth = 465.674705; finalDepth = 466.115372; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:466.115372 # Seafloor depth:-506.115372 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 505.674705 meters looking forward 0.000000 meters along route # Maximum depth: 505.674705 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 465.674705 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.691041; longitude = -117.442729; captureRadius = 10; duration = 50; initialDepth = 459.500524; finalDepth = 465.674705; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:465.674705 # Seafloor depth:-505.674705 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 499.500524 meters looking forward 0.000000 meters along route # Maximum depth: 499.500524 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 459.500524 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.691312; longitude = -117.442249; captureRadius = 10; duration = 50; initialDepth = 457.495930; finalDepth = 459.500524; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:459.500524 # Seafloor depth:-499.500524 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 497.495930 meters looking forward 0.000000 meters along route # Maximum depth: 497.495930 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 457.495930 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.691583; longitude = -117.441769; captureRadius = 10; duration = 50; initialDepth = 455.219387; finalDepth = 457.495930; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:457.49593 # Seafloor depth:-497.495930 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 495.219387 meters looking forward 0.000000 meters along route # Maximum depth: 495.219387 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 455.219387 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.691853; longitude = -117.441289; captureRadius = 10; duration = 50; initialDepth = 453.371148; finalDepth = 455.219387; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:455.219387 # Seafloor depth:-495.219387 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 493.371148 meters looking forward 0.000000 meters along route # Maximum depth: 493.371148 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 453.371148 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.692124; longitude = -117.440809; captureRadius = 10; duration = 50; initialDepth = 450.495100; finalDepth = 453.371148; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:453.371148 # Seafloor depth:-493.371148 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 490.495100 meters looking forward 0.000000 meters along route # Maximum depth: 490.495100 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 450.495100 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.692395; longitude = -117.440329; captureRadius = 10; duration = 50; initialDepth = 448.623058; finalDepth = 450.495100; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:450.4951 # Seafloor depth:-490.495100 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 488.623058 meters looking forward 0.000000 meters along route # Maximum depth: 488.623058 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 448.623058 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.692665; longitude = -117.439849; captureRadius = 10; duration = 50; initialDepth = 446.971086; finalDepth = 448.623058; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:448.623058 # Seafloor depth:-488.623058 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 486.971086 meters looking forward 0.000000 meters along route # Maximum depth: 486.971086 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 446.971086 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.692936; longitude = -117.439368; captureRadius = 10; duration = 50; initialDepth = 446.356176; finalDepth = 446.971086; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:446.971086 # Seafloor depth:-486.971086 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 486.356176 meters looking forward 0.000000 meters along route # Maximum depth: 486.356176 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 446.356176 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.693207; longitude = -117.438888; captureRadius = 10; duration = 50; initialDepth = 443.766284; finalDepth = 446.356176; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:446.356176 # Seafloor depth:-486.356176 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 483.766284 meters looking forward 0.000000 meters along route # Maximum depth: 483.766284 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 443.766284 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.693477; longitude = -117.438408; captureRadius = 10; duration = 50; initialDepth = 442.943969; finalDepth = 443.766284; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:443.766284 # Seafloor depth:-483.766284 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 482.943969 meters looking forward 0.000000 meters along route # Maximum depth: 482.943969 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 442.943969 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.693748; longitude = -117.437928; captureRadius = 10; duration = 50; initialDepth = 442.540352; finalDepth = 442.943969; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:442.943969 # Seafloor depth:-482.943969 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 482.540352 meters looking forward 0.000000 meters along route # Maximum depth: 482.540352 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 442.540352 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.694019; longitude = -117.437448; captureRadius = 10; duration = 50; initialDepth = 442.786208; finalDepth = 442.540352; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:442.540352 # Seafloor depth:-482.540352 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 482.786208 meters looking forward 0.000000 meters along route # Maximum depth: 482.786208 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 442.786208 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.694289; longitude = -117.436968; captureRadius = 10; duration = 50; initialDepth = 443.161510; finalDepth = 442.786208; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:442.786208 # Seafloor depth:-482.786208 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 483.161510 meters looking forward 0.000000 meters along route # Maximum depth: 483.161510 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 443.161510 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.694560; longitude = -117.436488; captureRadius = 10; duration = 50; initialDepth = 443.909605; finalDepth = 443.161510; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:443.16151 # Seafloor depth:-483.161510 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 483.909605 meters looking forward 0.000000 meters along route # Maximum depth: 483.909605 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 443.909605 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.694831; longitude = -117.436008; captureRadius = 10; duration = 50; initialDepth = 444.318385; finalDepth = 443.909605; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:443.909605 # Seafloor depth:-483.909605 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 484.318385 meters looking forward 0.000000 meters along route # Maximum depth: 484.318385 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 444.318385 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.695101; longitude = -117.435528; captureRadius = 10; duration = 50; initialDepth = 446.272348; finalDepth = 444.318385; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:444.318385 # Seafloor depth:-484.318385 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 486.272348 meters looking forward 0.000000 meters along route # Maximum depth: 486.272348 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 446.272348 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.695372; longitude = -117.435048; captureRadius = 10; duration = 50; initialDepth = 447.104599; finalDepth = 446.272348; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:446.272348 # Seafloor depth:-486.272348 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 487.104599 meters looking forward 0.000000 meters along route # Maximum depth: 487.104599 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 447.104599 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.695643; longitude = -117.434568; captureRadius = 10; duration = 50; initialDepth = 449.378041; finalDepth = 447.104599; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:447.104599 # Seafloor depth:-487.104599 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 489.378041 meters looking forward 0.000000 meters along route # Maximum depth: 489.378041 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 449.378041 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.695913; longitude = -117.434087; captureRadius = 10; duration = 50; initialDepth = 450.281805; finalDepth = 449.378041; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:449.378041 # Seafloor depth:-489.378041 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 490.281805 meters looking forward 0.000000 meters along route # Maximum depth: 490.281805 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 450.281805 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.696184; longitude = -117.433607; captureRadius = 10; duration = 50; initialDepth = 452.748032; finalDepth = 450.281805; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:450.281805 # Seafloor depth:-490.281805 # 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 = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_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 58 # Segment length 50.186748 meters # Minimum depth: 492.748032 meters looking forward 0.000000 meters along route # Maximum depth: 492.748032 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 452.748032 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.696455; longitude = -117.433127; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 451.244452; finalDepth = 452.748032; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:452.748032 # Seafloor depth:-492.748032 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 491.244452 meters looking forward 0.000000 meters along route # Maximum depth: 491.244452 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 451.244452 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.696242; longitude = -117.433239; captureRadius = 10; duration = 50; initialDepth = 448.421908; finalDepth = 451.244452; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:451.244452 # Seafloor depth:-491.244452 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 488.421908 meters looking forward 0.000000 meters along route # Maximum depth: 488.421908 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 448.421908 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.695778; longitude = -117.433483; captureRadius = 10; duration = 50; initialDepth = 445.270347; finalDepth = 448.421908; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:448.421908 # Seafloor depth:-488.421908 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 485.270347 meters looking forward 0.000000 meters along route # Maximum depth: 485.270347 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 445.270347 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.695237; longitude = -117.433768; captureRadius = 10; duration = 50; initialDepth = 441.303156; finalDepth = 445.270347; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:445.270347 # Seafloor depth:-485.270347 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 481.303156 meters looking forward 0.000000 meters along route # Maximum depth: 481.303156 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 441.303156 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.694722; longitude = -117.434039; captureRadius = 10; duration = 50; initialDepth = 440.151368; finalDepth = 441.303156; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:441.303156 # Seafloor depth:-481.303156 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 480.151368 meters looking forward 0.000000 meters along route # Maximum depth: 480.151368 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 440.151368 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.694289; longitude = -117.434267; captureRadius = 10; duration = 50; initialDepth = 437.687354; finalDepth = 440.151368; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:440.151368 # Seafloor depth:-480.151368 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 477.687354 meters looking forward 0.000000 meters along route # Maximum depth: 477.687354 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 437.687354 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.693809; longitude = -117.434519; captureRadius = 10; duration = 50; initialDepth = 434.331984; finalDepth = 437.687354; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:437.687354 # Seafloor depth:-477.687354 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 474.331984 meters looking forward 0.000000 meters along route # Maximum depth: 474.331984 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 434.331984 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.693342; longitude = -117.434765; captureRadius = 10; duration = 50; initialDepth = 432.204378; finalDepth = 434.331984; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:434.331984 # Seafloor depth:-474.331984 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 472.204378 meters looking forward 0.000000 meters along route # Maximum depth: 472.204378 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 432.204378 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.692801; longitude = -117.435050; captureRadius = 10; duration = 50; initialDepth = 429.684520; finalDepth = 432.204378; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:432.204378 # Seafloor depth:-472.204378 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 469.684520 meters looking forward 0.000000 meters along route # Maximum depth: 469.684520 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 429.684520 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.692288; longitude = -117.435320; captureRadius = 10; duration = 50; initialDepth = 428.431858; finalDepth = 429.684520; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:429.68452 # Seafloor depth:-469.684520 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 468.431858 meters looking forward 0.000000 meters along route # Maximum depth: 468.431858 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 428.431858 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.691853; longitude = -117.435548; captureRadius = 10; duration = 50; initialDepth = 427.405209; finalDepth = 428.431858; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:428.431858 # Seafloor depth:-468.431858 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 467.405209 meters looking forward 0.000000 meters along route # Maximum depth: 467.405209 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 427.405209 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.691376; longitude = -117.435800; captureRadius = 10; duration = 50; initialDepth = 426.001322; finalDepth = 427.405209; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:427.405209 # Seafloor depth:-467.405209 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 466.001322 meters looking forward 0.000000 meters along route # Maximum depth: 466.001322 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 426.001322 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.690906; longitude = -117.436047; captureRadius = 10; duration = 50; initialDepth = 425.497330; finalDepth = 426.001322; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:426.001322 # Seafloor depth:-466.001322 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 465.497330 meters looking forward 0.000000 meters along route # Maximum depth: 465.497330 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 425.497330 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.690364; longitude = -117.436332; captureRadius = 10; duration = 50; initialDepth = 425.606930; finalDepth = 425.497330; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:425.49733 # Seafloor depth:-465.497330 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 465.606930 meters looking forward 0.000000 meters along route # Maximum depth: 465.606930 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 425.606930 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.689855; longitude = -117.436600; captureRadius = 10; duration = 50; initialDepth = 426.616881; finalDepth = 425.606930; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:425.60693 # Seafloor depth:-465.606930 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 466.616881 meters looking forward 0.000000 meters along route # Maximum depth: 466.616881 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 426.616881 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.689417; longitude = -117.436830; captureRadius = 10; duration = 50; initialDepth = 428.403239; finalDepth = 426.616881; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:426.616881 # Seafloor depth:-466.616881 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 468.403239 meters looking forward 0.000000 meters along route # Maximum depth: 468.403239 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 428.403239 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.688942; longitude = -117.437080; captureRadius = 10; duration = 50; initialDepth = 428.788700; finalDepth = 428.403239; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:428.403239 # Seafloor depth:-468.403239 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 468.788700 meters looking forward 0.000000 meters along route # Maximum depth: 468.788700 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 428.788700 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.688470; longitude = -117.437329; captureRadius = 10; duration = 50; initialDepth = 430.540778; finalDepth = 428.788700; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:428.7887 # Seafloor depth:-468.788700 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 470.540778 meters looking forward 0.000000 meters along route # Maximum depth: 470.540778 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 430.540778 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.687928; longitude = -117.437614; captureRadius = 10; duration = 50; initialDepth = 433.473352; finalDepth = 430.540778; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:430.540778 # Seafloor depth:-470.540778 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 473.473352 meters looking forward 0.000000 meters along route # Maximum depth: 473.473352 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 433.473352 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.687421; longitude = -117.437880; captureRadius = 10; duration = 50; initialDepth = 436.730258; finalDepth = 433.473352; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:433.473352 # Seafloor depth:-473.473352 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 476.730258 meters looking forward 0.000000 meters along route # Maximum depth: 476.730258 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 436.730258 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.686981; longitude = -117.438112; captureRadius = 10; duration = 50; initialDepth = 438.870079; finalDepth = 436.730258; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:436.730258 # Seafloor depth:-476.730258 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 478.870079 meters looking forward 0.000000 meters along route # Maximum depth: 478.870079 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 438.870079 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.686509; longitude = -117.438361; captureRadius = 10; duration = 50; initialDepth = 438.323624; finalDepth = 438.870079; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:438.870079 # Seafloor depth:-478.870079 # 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 = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_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 57 # Segment length 50.186748 meters # Minimum depth: 478.323624 meters looking forward 0.000000 meters along route # Maximum depth: 478.323624 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 438.323624 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.686054; longitude = -117.438600; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 438.703460; finalDepth = 438.323624; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:438.323624 # Seafloor depth:-478.323624 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 478.703460 meters looking forward 0.000000 meters along route # Maximum depth: 478.703460 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 438.703460 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.686169; longitude = -117.438715; captureRadius = 10; duration = 50; initialDepth = 439.336576; finalDepth = 438.703460; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:438.70346 # Seafloor depth:-478.703460 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 479.336576 meters looking forward 0.000000 meters along route # Maximum depth: 479.336576 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 439.336576 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.686614; longitude = -117.439161; captureRadius = 10; duration = 50; initialDepth = 441.344663; finalDepth = 439.336576; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:439.336576 # Seafloor depth:-479.336576 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 481.344663 meters looking forward 0.000000 meters along route # Maximum depth: 481.344663 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 441.344663 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.686981; longitude = -117.439528; captureRadius = 10; duration = 50; initialDepth = 443.123199; finalDepth = 441.344663; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:441.344663 # Seafloor depth:-481.344663 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 483.123199 meters looking forward 0.000000 meters along route # Maximum depth: 483.123199 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 443.123199 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.687413; longitude = -117.439961; captureRadius = 10; duration = 50; initialDepth = 444.839104; finalDepth = 443.123199; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:443.123199 # Seafloor depth:-483.123199 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 484.839104 meters looking forward 0.000000 meters along route # Maximum depth: 484.839104 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 444.839104 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.687793; longitude = -117.440341; captureRadius = 10; duration = 50; initialDepth = 447.355100; finalDepth = 444.839104; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:444.839104 # Seafloor depth:-484.839104 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 487.355100 meters looking forward 0.000000 meters along route # Maximum depth: 487.355100 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 447.355100 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.688213; longitude = -117.440761; captureRadius = 10; duration = 50; initialDepth = 450.267582; finalDepth = 447.355100; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:447.3551 # Seafloor depth:-487.355100 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 490.267582 meters looking forward 0.000000 meters along route # Maximum depth: 490.267582 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 450.267582 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.688605; longitude = -117.441154; captureRadius = 10; duration = 50; initialDepth = 454.719979; finalDepth = 450.267582; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:450.267582 # Seafloor depth:-490.267582 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 494.719979 meters looking forward 0.000000 meters along route # Maximum depth: 494.719979 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 454.719979 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.689012; longitude = -117.441562; captureRadius = 10; duration = 50; initialDepth = 457.041103; finalDepth = 454.719979; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:454.719979 # Seafloor depth:-494.719979 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 497.041103 meters looking forward 0.000000 meters along route # Maximum depth: 497.041103 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 457.041103 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.689417; longitude = -117.441968; captureRadius = 10; duration = 50; initialDepth = 458.780668; finalDepth = 457.041103; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:457.041103 # Seafloor depth:-497.041103 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 498.780668 meters looking forward 0.000000 meters along route # Maximum depth: 498.780668 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 458.780668 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.689823; longitude = -117.442374; captureRadius = 10; duration = 50; initialDepth = 463.830574; finalDepth = 458.780668; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:458.780668 # Seafloor depth:-498.780668 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 503.830574 meters looking forward 0.000000 meters along route # Maximum depth: 503.830574 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 463.830574 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.690290; longitude = -117.442842; captureRadius = 10; duration = 50; initialDepth = 466.426567; finalDepth = 463.830574; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:463.830574 # Seafloor depth:-503.830574 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 506.426567 meters looking forward 0.000000 meters along route # Maximum depth: 506.426567 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 466.426567 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.690635; longitude = -117.443187; captureRadius = 10; duration = 50; initialDepth = 466.513304; finalDepth = 466.426567; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:466.426567 # Seafloor depth:-506.426567 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 506.513304 meters looking forward 0.000000 meters along route # Maximum depth: 506.513304 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 466.513304 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.691090; longitude = -117.443642; captureRadius = 10; duration = 50; initialDepth = 466.025269; finalDepth = 466.513304; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:466.513304 # Seafloor depth:-506.513304 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 506.025269 meters looking forward 0.000000 meters along route # Maximum depth: 506.025269 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 466.025269 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.691447; longitude = -117.444000; captureRadius = 10; duration = 50; initialDepth = 467.404737; finalDepth = 466.025269; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:466.025269 # Seafloor depth:-506.025269 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 507.404737 meters looking forward 0.000000 meters along route # Maximum depth: 507.404737 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 467.404737 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.691889; longitude = -117.444443; captureRadius = 10; duration = 50; initialDepth = 469.552219; finalDepth = 467.404737; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:467.404737 # Seafloor depth:-507.404737 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 509.552219 meters looking forward 0.000000 meters along route # Maximum depth: 509.552219 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 469.552219 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.692259; longitude = -117.444814; captureRadius = 10; duration = 50; initialDepth = 471.823976; finalDepth = 469.552219; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:469.552219 # Seafloor depth:-509.552219 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 511.823976 meters looking forward 0.000000 meters along route # Maximum depth: 511.823976 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 471.823976 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.692688; longitude = -117.445243; captureRadius = 10; duration = 50; initialDepth = 473.019813; finalDepth = 471.823976; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:471.823976 # Seafloor depth:-511.823976 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 513.019813 meters looking forward 0.000000 meters along route # Maximum depth: 513.019813 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 473.019813 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.693071; longitude = -117.445627; captureRadius = 10; duration = 50; initialDepth = 475.138617; finalDepth = 473.019813; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:473.019813 # Seafloor depth:-513.019813 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 515.138617 meters looking forward 0.000000 meters along route # Maximum depth: 515.138617 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 475.138617 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.693487; longitude = -117.446043; captureRadius = 10; duration = 50; initialDepth = 477.547342; finalDepth = 475.138617; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:475.138617 # Seafloor depth:-515.138617 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 517.547342 meters looking forward 0.000000 meters along route # Maximum depth: 517.547342 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 477.547342 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.693883; longitude = -117.446440; captureRadius = 10; duration = 50; initialDepth = 479.074462; finalDepth = 477.547342; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:477.547342 # Seafloor depth:-517.547342 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 519.074462 meters looking forward 0.000000 meters along route # Maximum depth: 519.074462 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 479.074462 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.694289; longitude = -117.446847; captureRadius = 10; duration = 50; initialDepth = 481.503365; finalDepth = 479.074462; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:479.074462 # Seafloor depth:-519.074462 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 521.503365 meters looking forward 0.000000 meters along route # Maximum depth: 521.503365 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 481.503365 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.694695; longitude = -117.447253; captureRadius = 10; duration = 50; initialDepth = 484.136120; finalDepth = 481.503365; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:481.503365 # Seafloor depth:-521.503365 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 524.136120 meters looking forward 0.000000 meters along route # Maximum depth: 524.136120 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 484.136120 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.695101; longitude = -117.447660; captureRadius = 10; duration = 50; initialDepth = 489.450157; finalDepth = 484.136120; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:484.13612 # Seafloor depth:-524.136120 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 529.450157 meters looking forward 0.000000 meters along route # Maximum depth: 529.450157 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 489.450157 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.695565; longitude = -117.448124; captureRadius = 10; duration = 50; initialDepth = 488.824723; finalDepth = 489.450157; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:489.450157 # Seafloor depth:-529.450157 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 528.824723 meters looking forward 0.000000 meters along route # Maximum depth: 528.824723 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 488.824723 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.695913; longitude = -117.448473; captureRadius = 10; duration = 50; initialDepth = 491.149544; finalDepth = 488.824723; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:488.824723 # Seafloor depth:-528.824723 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 531.149544 meters looking forward 0.000000 meters along route # Maximum depth: 531.149544 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 491.149544 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.696364; longitude = -117.448924; captureRadius = 10; duration = 50; initialDepth = 492.462010; finalDepth = 491.149544; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:491.149544 # Seafloor depth:-531.149544 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 532.462010 meters looking forward 0.000000 meters along route # Maximum depth: 532.462010 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 492.462010 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.696726; longitude = -117.449286; captureRadius = 10; duration = 50; initialDepth = 494.512840; finalDepth = 492.462010; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:492.46201 # Seafloor depth:-532.462010 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 534.512840 meters looking forward 0.000000 meters along route # Maximum depth: 534.512840 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 494.512840 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.697164; longitude = -117.449725; captureRadius = 10; duration = 50; initialDepth = 496.740739; finalDepth = 494.512840; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:494.51284 # Seafloor depth:-534.512840 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 536.740739 meters looking forward 0.000000 meters along route # Maximum depth: 536.740739 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 496.740739 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.697538; longitude = -117.450099; captureRadius = 10; duration = 50; initialDepth = 506.742354; finalDepth = 496.740739; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:496.740739 # Seafloor depth:-536.740739 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 546.742354 meters looking forward 0.000000 meters along route # Maximum depth: 546.742354 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 506.742354 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.697963; longitude = -117.450525; captureRadius = 10; duration = 50; initialDepth = 501.156899; finalDepth = 506.742354; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:506.742354 # Seafloor depth:-546.742354 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 541.156899 meters looking forward 0.000000 meters along route # Maximum depth: 541.156899 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 501.156899 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.698350; longitude = -117.450912; captureRadius = 10; duration = 50; initialDepth = 505.343098; finalDepth = 501.156899; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:501.156899 # Seafloor depth:-541.156899 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 545.343098 meters looking forward 0.000000 meters along route # Maximum depth: 545.343098 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 505.343098 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.698762; longitude = -117.451325; captureRadius = 10; duration = 50; initialDepth = 506.644713; finalDepth = 505.343098; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:505.343098 # Seafloor depth:-545.343098 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 546.644713 meters looking forward 0.000000 meters along route # Maximum depth: 546.644713 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 506.644713 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.699162; longitude = -117.451725; captureRadius = 10; duration = 50; initialDepth = 508.553896; finalDepth = 506.644713; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:506.644713 # Seafloor depth:-546.644713 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 548.553896 meters looking forward 0.000000 meters along route # Maximum depth: 548.553896 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 508.553896 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.699568; longitude = -117.452132; captureRadius = 10; duration = 50; initialDepth = 509.370957; finalDepth = 508.553896; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:508.553896 # Seafloor depth:-548.553896 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 549.370957 meters looking forward 0.000000 meters along route # Maximum depth: 549.370957 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 509.370957 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.699974; longitude = -117.452539; captureRadius = 10; duration = 50; initialDepth = 509.560668; finalDepth = 509.370957; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:509.370957 # Seafloor depth:-549.370957 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 549.560668 meters looking forward 0.000000 meters along route # Maximum depth: 549.560668 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 509.560668 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.700380; longitude = -117.452945; captureRadius = 10; duration = 50; initialDepth = 511.852969; finalDepth = 509.560668; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:509.560668 # Seafloor depth:-549.560668 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 551.852969 meters looking forward 0.000000 meters along route # Maximum depth: 551.852969 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 511.852969 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.700840; longitude = -117.453406; captureRadius = 10; duration = 50; initialDepth = 514.581124; finalDepth = 511.852969; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:511.852969 # Seafloor depth:-551.852969 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 554.581124 meters looking forward 0.000000 meters along route # Maximum depth: 554.581124 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 514.581124 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.701192; longitude = -117.453758; captureRadius = 10; duration = 50; initialDepth = 516.747299; finalDepth = 514.581124; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:514.581124 # Seafloor depth:-554.581124 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 556.747299 meters looking forward 0.000000 meters along route # Maximum depth: 556.747299 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 516.747299 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.701639; longitude = -117.454206; captureRadius = 10; duration = 50; initialDepth = 518.831193; finalDepth = 516.747299; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:516.747299 # Seafloor depth:-556.747299 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 558.831193 meters looking forward 0.000000 meters along route # Maximum depth: 558.831193 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 518.831193 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.702004; longitude = -117.454571; captureRadius = 10; duration = 50; initialDepth = 521.110792; finalDepth = 518.831193; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:518.831193 # Seafloor depth:-558.831193 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 561.110792 meters looking forward 0.000000 meters along route # Maximum depth: 561.110792 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 521.110792 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.702438; longitude = -117.455006; captureRadius = 10; duration = 50; initialDepth = 521.946970; finalDepth = 521.110792; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:521.110792 # Seafloor depth:-561.110792 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 561.946970 meters looking forward 0.000000 meters along route # Maximum depth: 561.946970 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 521.946970 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.702816; longitude = -117.455385; captureRadius = 10; duration = 50; initialDepth = 523.739870; finalDepth = 521.946970; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:521.94697 # Seafloor depth:-561.946970 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 563.739870 meters looking forward 0.000000 meters along route # Maximum depth: 563.739870 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 523.739870 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.703238; longitude = -117.455807; captureRadius = 10; duration = 50; initialDepth = 525.941455; finalDepth = 523.739870; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:523.73987 # Seafloor depth:-563.739870 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 565.941455 meters looking forward 0.000000 meters along route # Maximum depth: 565.941455 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 525.941455 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.703628; longitude = -117.456198; captureRadius = 10; duration = 50; initialDepth = 528.354398; finalDepth = 525.941455; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:525.941455 # Seafloor depth:-565.941455 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 568.354398 meters looking forward 0.000000 meters along route # Maximum depth: 568.354398 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 528.354398 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.704037; longitude = -117.456607; captureRadius = 10; duration = 50; initialDepth = 530.359087; finalDepth = 528.354398; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:528.354398 # Seafloor depth:-568.354398 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 570.359087 meters looking forward 0.000000 meters along route # Maximum depth: 570.359087 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 530.359087 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.704440; longitude = -117.457011; captureRadius = 10; duration = 50; initialDepth = 531.809711; finalDepth = 530.359087; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:530.359087 # Seafloor depth:-570.359087 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 571.809711 meters looking forward 0.000000 meters along route # Maximum depth: 571.809711 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 531.809711 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.704846; longitude = -117.457417; captureRadius = 10; duration = 50; initialDepth = 537.329498; finalDepth = 531.809711; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:531.809711 # Seafloor depth:-571.809711 # 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 = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_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 56 # Segment length 50.186748 meters # Minimum depth: 577.329498 meters looking forward 0.000000 meters along route # Maximum depth: 577.329498 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 537.329498 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.705293; longitude = -117.457865; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 537.981070; finalDepth = 537.329498; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:537.329498 # Seafloor depth:-577.329498 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 577.981070 meters looking forward 0.000000 meters along route # Maximum depth: 577.981070 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 537.981070 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.705566; longitude = -117.458208; captureRadius = 10; duration = 50; initialDepth = 539.721852; finalDepth = 537.981070; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:537.98107 # Seafloor depth:-577.981070 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 579.721852 meters looking forward 0.000000 meters along route # Maximum depth: 579.721852 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 539.721852 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.705948; longitude = -117.458688; captureRadius = 10; duration = 50; initialDepth = 541.594022; finalDepth = 539.721852; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:539.721852 # Seafloor depth:-579.721852 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 581.594022 meters looking forward 0.000000 meters along route # Maximum depth: 581.594022 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 541.594022 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.706335; longitude = -117.459174; captureRadius = 10; duration = 50; initialDepth = 543.456469; finalDepth = 541.594022; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:541.594022 # Seafloor depth:-581.594022 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 583.456469 meters looking forward 0.000000 meters along route # Maximum depth: 583.456469 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 543.456469 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.706741; longitude = -117.459684; captureRadius = 10; duration = 50; initialDepth = 546.693656; finalDepth = 543.456469; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:543.456469 # Seafloor depth:-583.456469 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 586.693656 meters looking forward 0.000000 meters along route # Maximum depth: 586.693656 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 546.693656 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.707147; longitude = -117.460194; captureRadius = 10; duration = 50; initialDepth = 545.617884; finalDepth = 546.693656; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:546.693656 # Seafloor depth:-586.693656 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 585.617884 meters looking forward 0.000000 meters along route # Maximum depth: 585.617884 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 545.617884 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.707477; longitude = -117.460608; captureRadius = 10; duration = 50; initialDepth = 547.469707; finalDepth = 545.617884; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:545.617884 # Seafloor depth:-585.617884 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 587.469707 meters looking forward 0.000000 meters along route # Maximum depth: 587.469707 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 547.469707 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.707859; longitude = -117.461089; captureRadius = 10; duration = 50; initialDepth = 547.702560; finalDepth = 547.469707; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:547.469707 # Seafloor depth:-587.469707 # 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 = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 50.186748 meters # Minimum depth: 587.702560 meters looking forward 0.000000 meters along route # Maximum depth: 587.702560 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 547.702560 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.708179; longitude = -117.461491; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 552.872307; finalDepth = 547.702560; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:547.70256 # Seafloor depth:-587.702560 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 592.872307 meters looking forward 0.000000 meters along route # Maximum depth: 592.872307 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 552.872307 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.708500; longitude = -117.461341; captureRadius = 10; duration = 50; initialDepth = 565.490224; finalDepth = 552.872307; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:552.872307 # Seafloor depth:-592.872307 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 605.490224 meters looking forward 0.000000 meters along route # Maximum depth: 605.490224 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 565.490224 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.709043; longitude = -117.461089; captureRadius = 10; duration = 50; initialDepth = 575.449405; finalDepth = 565.490224; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:565.490224 # Seafloor depth:-605.490224 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 615.449405 meters looking forward 0.000000 meters along route # Maximum depth: 615.449405 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 575.449405 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.709583; longitude = -117.460837; captureRadius = 10; duration = 50; initialDepth = 582.451710; finalDepth = 575.449405; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:575.449405 # Seafloor depth:-615.449405 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 622.451710 meters looking forward 0.000000 meters along route # Maximum depth: 622.451710 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 582.451710 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.710124; longitude = -117.460585; captureRadius = 10; duration = 50; initialDepth = 583.893148; finalDepth = 582.451710; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:582.45171 # Seafloor depth:-622.451710 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 623.893148 meters looking forward 0.000000 meters along route # Maximum depth: 623.893148 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 583.893148 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.710666; longitude = -117.460332; captureRadius = 10; duration = 50; initialDepth = 583.582894; finalDepth = 583.893148; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:583.893148 # Seafloor depth:-623.893148 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 623.582894 meters looking forward 0.000000 meters along route # Maximum depth: 623.582894 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 583.582894 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.711104; longitude = -117.460128; captureRadius = 10; duration = 50; initialDepth = 584.288597; finalDepth = 583.582894; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:583.582894 # Seafloor depth:-623.582894 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 624.288597 meters looking forward 0.000000 meters along route # Maximum depth: 624.288597 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 584.288597 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.711613; longitude = -117.459891; captureRadius = 10; duration = 50; initialDepth = 582.444956; finalDepth = 584.288597; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:584.288597 # Seafloor depth:-624.288597 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 622.444956 meters looking forward 0.000000 meters along route # Maximum depth: 622.444956 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 582.444956 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.712154; longitude = -117.459639; captureRadius = 10; duration = 50; initialDepth = 579.598764; finalDepth = 582.444956; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:582.444956 # Seafloor depth:-622.444956 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 619.598764 meters looking forward 0.000000 meters along route # Maximum depth: 619.598764 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 579.598764 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.712696; longitude = -117.459387; captureRadius = 10; duration = 50; initialDepth = 577.034930; finalDepth = 579.598764; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:579.598764 # Seafloor depth:-619.598764 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 617.034930 meters looking forward 0.000000 meters along route # Maximum depth: 617.034930 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 577.034930 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.713165; longitude = -117.459168; captureRadius = 10; duration = 50; initialDepth = 574.804385; finalDepth = 577.034930; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:577.03493 # Seafloor depth:-617.034930 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 614.804385 meters looking forward 0.000000 meters along route # Maximum depth: 614.804385 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 574.804385 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.713643; longitude = -117.458945; captureRadius = 10; duration = 50; initialDepth = 573.894516; finalDepth = 574.804385; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:574.804385 # Seafloor depth:-614.804385 # 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 = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 50.186748 meters # Minimum depth: 613.894516 meters looking forward 0.000000 meters along route # Maximum depth: 613.894516 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 573.894516 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.714131; longitude = -117.458718; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 575.394431; finalDepth = 573.894516; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:573.894516 # Seafloor depth:-613.894516 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 615.394431 meters looking forward 0.000000 meters along route # Maximum depth: 615.394431 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 575.394431 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.714320; longitude = -117.458863; captureRadius = 10; duration = 50; initialDepth = 576.344345; finalDepth = 575.394431; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:575.394431 # Seafloor depth:-615.394431 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 616.344345 meters looking forward 0.000000 meters along route # Maximum depth: 616.344345 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 576.344345 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.714726; longitude = -117.459174; captureRadius = 10; duration = 50; initialDepth = 577.075211; finalDepth = 576.344345; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:576.344345 # Seafloor depth:-616.344345 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 617.075211 meters looking forward 0.000000 meters along route # Maximum depth: 617.075211 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 577.075211 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.715136; longitude = -117.459488; captureRadius = 10; duration = 50; initialDepth = 578.147450; finalDepth = 577.075211; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:577.075211 # Seafloor depth:-617.075211 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 618.147450 meters looking forward 0.000000 meters along route # Maximum depth: 618.147450 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 578.147450 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.715553; longitude = -117.459808; captureRadius = 10; duration = 50; initialDepth = 579.746567; finalDepth = 578.147450; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:578.14745 # Seafloor depth:-618.147450 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 619.746567 meters looking forward 0.000000 meters along route # Maximum depth: 619.746567 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 579.746567 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.715971; longitude = -117.460128; captureRadius = 10; duration = 50; initialDepth = 582.436668; finalDepth = 579.746567; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:579.746567 # Seafloor depth:-619.746567 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 622.436668 meters looking forward 0.000000 meters along route # Maximum depth: 622.436668 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 582.436668 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.716350; longitude = -117.460419; captureRadius = 10; duration = 50; initialDepth = 583.972124; finalDepth = 582.436668; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:582.436668 # Seafloor depth:-622.436668 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 623.972124 meters looking forward 0.000000 meters along route # Maximum depth: 623.972124 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 583.972124 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.716756; longitude = -117.460730; captureRadius = 10; duration = 50; initialDepth = 586.956796; finalDepth = 583.972124; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:583.972124 # Seafloor depth:-623.972124 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 626.956796 meters looking forward 0.000000 meters along route # Maximum depth: 626.956796 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 586.956796 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.717162; longitude = -117.461042; captureRadius = 10; duration = 50; initialDepth = 589.694093; finalDepth = 586.956796; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:586.956796 # Seafloor depth:-626.956796 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 629.694093 meters looking forward 0.000000 meters along route # Maximum depth: 629.694093 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 589.694093 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.717568; longitude = -117.461353; captureRadius = 10; duration = 50; initialDepth = 596.342864; finalDepth = 589.694093; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:589.694093 # Seafloor depth:-629.694093 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 636.342864 meters looking forward 0.000000 meters along route # Maximum depth: 636.342864 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 596.342864 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.717974; longitude = -117.461664; captureRadius = 10; duration = 50; initialDepth = 594.600293; finalDepth = 596.342864; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:596.342864 # Seafloor depth:-636.342864 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 634.600293 meters looking forward 0.000000 meters along route # Maximum depth: 634.600293 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 594.600293 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.718380; longitude = -117.461975; captureRadius = 10; duration = 50; initialDepth = 597.282874; finalDepth = 594.600293; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:594.600293 # Seafloor depth:-634.600293 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 637.282874 meters looking forward 0.000000 meters along route # Maximum depth: 637.282874 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 597.282874 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.718786; longitude = -117.462287; captureRadius = 10; duration = 50; initialDepth = 599.718863; finalDepth = 597.282874; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:597.282874 # Seafloor depth:-637.282874 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 639.718863 meters looking forward 0.000000 meters along route # Maximum depth: 639.718863 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 599.718863 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.719192; longitude = -117.462598; captureRadius = 10; duration = 50; initialDepth = 603.744125; finalDepth = 599.718863; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:599.718863 # Seafloor depth:-639.718863 # 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 = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 50.186748 meters # Minimum depth: 643.744125 meters looking forward 0.000000 meters along route # Maximum depth: 643.744125 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 603.744125 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.719602; longitude = -117.462912; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 603.341687; finalDepth = 603.744125; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:603.744125 # Seafloor depth:-643.744125 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 643.341687 meters looking forward 0.000000 meters along route # Maximum depth: 643.341687 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 603.341687 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.719869; longitude = -117.463057; captureRadius = 10; duration = 50; initialDepth = 606.451030; finalDepth = 603.341687; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:603.341687 # Seafloor depth:-643.341687 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 646.451030 meters looking forward 0.000000 meters along route # Maximum depth: 646.451030 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 606.451030 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.720368; longitude = -117.463329; captureRadius = 10; duration = 50; initialDepth = 607.129035; finalDepth = 606.451030; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:606.45103 # Seafloor depth:-646.451030 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 647.129035 meters looking forward 0.000000 meters along route # Maximum depth: 647.129035 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 607.129035 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.720816; longitude = -117.463574; captureRadius = 10; duration = 50; initialDepth = 608.092776; finalDepth = 607.129035; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:607.129035 # Seafloor depth:-647.129035 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 648.092776 meters looking forward 0.000000 meters along route # Maximum depth: 648.092776 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 608.092776 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.721358; longitude = -117.463869; captureRadius = 10; duration = 50; initialDepth = 608.792807; finalDepth = 608.092776; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:608.092776 # Seafloor depth:-648.092776 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 648.792807 meters looking forward 0.000000 meters along route # Maximum depth: 648.792807 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 608.792807 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.721899; longitude = -117.464164; captureRadius = 10; duration = 50; initialDepth = 610.640144; finalDepth = 608.792807; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:608.792807 # Seafloor depth:-648.792807 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 650.640144 meters looking forward 0.000000 meters along route # Maximum depth: 650.640144 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 610.640144 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.722424; longitude = -117.464450; captureRadius = 10; duration = 50; initialDepth = 610.422504; finalDepth = 610.640144; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:610.640144 # Seafloor depth:-650.640144 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 650.422504 meters looking forward 0.000000 meters along route # Maximum depth: 650.422504 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 610.422504 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.722846; longitude = -117.464680; captureRadius = 10; duration = 50; initialDepth = 610.410588; finalDepth = 610.422504; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:610.422504 # Seafloor depth:-650.422504 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 650.410588 meters looking forward 0.000000 meters along route # Maximum depth: 650.410588 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 610.410588 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.723388; longitude = -117.464975; captureRadius = 10; duration = 50; initialDepth = 611.238553; finalDepth = 610.410588; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:610.410588 # Seafloor depth:-650.410588 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 651.238553 meters looking forward 0.000000 meters along route # Maximum depth: 651.238553 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 611.238553 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.723892; longitude = -117.465250; captureRadius = 10; duration = 50; initialDepth = 612.547963; finalDepth = 611.238553; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:611.238553 # Seafloor depth:-651.238553 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 652.547963 meters looking forward 0.000000 meters along route # Maximum depth: 652.547963 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 612.547963 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.724335; longitude = -117.465492; captureRadius = 10; duration = 50; initialDepth = 614.131412; finalDepth = 612.547963; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:612.547963 # Seafloor depth:-652.547963 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 654.131412 meters looking forward 0.000000 meters along route # Maximum depth: 654.131412 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 614.131412 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.724877; longitude = -117.465787; captureRadius = 10; duration = 50; initialDepth = 619.378444; finalDepth = 614.131412; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:614.131412 # Seafloor depth:-654.131412 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 659.378444 meters looking forward 0.000000 meters along route # Maximum depth: 659.378444 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 619.378444 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.725418; longitude = -117.466082; captureRadius = 10; duration = 50; initialDepth = 622.358518; finalDepth = 619.378444; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:619.378444 # Seafloor depth:-659.378444 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 662.358518 meters looking forward 0.000000 meters along route # Maximum depth: 662.358518 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 622.358518 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.725948; longitude = -117.466370; captureRadius = 10; duration = 50; initialDepth = 626.750079; finalDepth = 622.358518; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:622.358518 # Seafloor depth:-662.358518 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 666.750079 meters looking forward 0.000000 meters along route # Maximum depth: 666.750079 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 626.750079 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.726365; longitude = -117.466598; captureRadius = 10; duration = 50; initialDepth = 631.427457; finalDepth = 626.750079; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:626.750079 # Seafloor depth:-666.750079 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 671.427457 meters looking forward 0.000000 meters along route # Maximum depth: 671.427457 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 631.427457 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.726907; longitude = -117.466893; captureRadius = 10; duration = 50; initialDepth = 632.807987; finalDepth = 631.427457; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:631.427457 # Seafloor depth:-671.427457 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 672.807987 meters looking forward 0.000000 meters along route # Maximum depth: 672.807987 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 632.807987 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.727416; longitude = -117.467171; captureRadius = 10; duration = 50; initialDepth = 633.803060; finalDepth = 632.807987; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:632.807987 # Seafloor depth:-672.807987 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 673.803060 meters looking forward 0.000000 meters along route # Maximum depth: 673.803060 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 633.803060 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.727854; longitude = -117.467409; captureRadius = 10; duration = 50; initialDepth = 639.790336; finalDepth = 633.803060; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:633.80306 # Seafloor depth:-673.803060 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 679.790336 meters looking forward 0.000000 meters along route # Maximum depth: 679.790336 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 639.790336 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.728395; longitude = -117.467704; captureRadius = 10; duration = 50; initialDepth = 642.688822; finalDepth = 639.790336; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:639.790336 # Seafloor depth:-679.790336 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 682.688822 meters looking forward 0.000000 meters along route # Maximum depth: 682.688822 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 642.688822 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.728937; longitude = -117.467999; captureRadius = 10; duration = 50; initialDepth = 646.023615; finalDepth = 642.688822; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:642.688822 # Seafloor depth:-682.688822 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 686.023615 meters looking forward 0.000000 meters along route # Maximum depth: 686.023615 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 646.023615 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.729472; longitude = -117.468291; captureRadius = 10; duration = 50; initialDepth = 651.441187; finalDepth = 646.023615; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:646.023615 # Seafloor depth:-686.023615 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 691.441187 meters looking forward 0.000000 meters along route # Maximum depth: 691.441187 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 651.441187 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.729884; longitude = -117.468516; captureRadius = 10; duration = 50; initialDepth = 656.413539; finalDepth = 651.441187; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:651.441187 # Seafloor depth:-691.441187 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 696.413539 meters looking forward 0.000000 meters along route # Maximum depth: 696.413539 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 656.413539 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.730426; longitude = -117.468811; captureRadius = 10; duration = 50; initialDepth = 661.498280; finalDepth = 656.413539; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:656.413539 # Seafloor depth:-696.413539 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 701.498280 meters looking forward 0.000000 meters along route # Maximum depth: 701.498280 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 661.498280 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.730941; longitude = -117.469091; captureRadius = 10; duration = 50; initialDepth = 664.366048; finalDepth = 661.498280; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:661.49828 # Seafloor depth:-701.498280 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 704.366048 meters looking forward 0.000000 meters along route # Maximum depth: 704.366048 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 664.366048 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.731373; longitude = -117.469327; captureRadius = 10; duration = 50; initialDepth = 666.982463; finalDepth = 664.366048; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:664.366048 # Seafloor depth:-704.366048 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 706.982463 meters looking forward 0.000000 meters along route # Maximum depth: 706.982463 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 666.982463 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.731914; longitude = -117.469622; captureRadius = 10; duration = 50; initialDepth = 668.818433; finalDepth = 666.982463; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:666.982463 # Seafloor depth:-706.982463 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 708.818433 meters looking forward 0.000000 meters along route # Maximum depth: 708.818433 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 668.818433 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.732456; longitude = -117.469917; captureRadius = 10; duration = 50; initialDepth = 671.951551; finalDepth = 668.818433; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:668.818433 # Seafloor depth:-708.818433 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 711.951551 meters looking forward 0.000000 meters along route # Maximum depth: 711.951551 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 671.951551 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.732997; longitude = -117.470212; captureRadius = 10; duration = 50; initialDepth = 672.323105; finalDepth = 671.951551; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:671.951551 # Seafloor depth:-711.951551 # 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 = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 50.186748 meters # Minimum depth: 712.323105 meters looking forward 0.000000 meters along route # Maximum depth: 712.323105 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 672.323105 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.733430; longitude = -117.470448; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 676.682551; finalDepth = 672.323105; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:672.323105 # Seafloor depth:-712.323105 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 716.682551 meters looking forward 0.000000 meters along route # Maximum depth: 716.682551 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 676.682551 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.733552; longitude = -117.471012; captureRadius = 10; duration = 50; initialDepth = 694.397453; finalDepth = 676.682551; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:676.682551 # Seafloor depth:-716.682551 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 734.397453 meters looking forward 0.000000 meters along route # Maximum depth: 734.397453 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 694.397453 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.733690; longitude = -117.471652; captureRadius = 10; duration = 50; initialDepth = 692.157247; finalDepth = 694.397453; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:694.397453 # Seafloor depth:-734.397453 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 732.157247 meters looking forward 0.000000 meters along route # Maximum depth: 732.157247 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 692.157247 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.733828; longitude = -117.472293; captureRadius = 10; duration = 50; initialDepth = 695.562785; finalDepth = 692.157247; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:692.157247 # Seafloor depth:-732.157247 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 735.562785 meters looking forward 0.000000 meters along route # Maximum depth: 735.562785 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 695.562785 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.733966; longitude = -117.472933; captureRadius = 10; duration = 50; initialDepth = 699.247109; finalDepth = 695.562785; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:695.562785 # Seafloor depth:-735.562785 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 739.247109 meters looking forward 0.000000 meters along route # Maximum depth: 739.247109 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 699.247109 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.734104; longitude = -117.473573; captureRadius = 10; duration = 50; initialDepth = 698.587232; finalDepth = 699.247109; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:699.247109 # Seafloor depth:-739.247109 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 738.587232 meters looking forward 0.000000 meters along route # Maximum depth: 738.587232 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 698.587232 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.734242; longitude = -117.474213; captureRadius = 10; duration = 50; initialDepth = 698.380229; finalDepth = 698.587232; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:698.587232 # Seafloor depth:-738.587232 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 738.380229 meters looking forward 0.000000 meters along route # Maximum depth: 738.380229 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 698.380229 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.734381; longitude = -117.474853; captureRadius = 10; duration = 50; initialDepth = 695.416011; finalDepth = 698.380229; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:698.380229 # Seafloor depth:-738.380229 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 735.416011 meters looking forward 0.000000 meters along route # Maximum depth: 735.416011 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 695.416011 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.734519; longitude = -117.475494; captureRadius = 10; duration = 50; initialDepth = 696.923986; finalDepth = 695.416011; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:695.416011 # Seafloor depth:-735.416011 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 736.923986 meters looking forward 0.000000 meters along route # Maximum depth: 736.923986 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 696.923986 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.734657; longitude = -117.476134; captureRadius = 10; duration = 50; initialDepth = 696.692078; finalDepth = 696.923986; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:696.923986 # Seafloor depth:-736.923986 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 736.692078 meters looking forward 0.000000 meters along route # Maximum depth: 736.692078 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 696.692078 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.734795; longitude = -117.476774; captureRadius = 10; duration = 50; initialDepth = 694.288422; finalDepth = 696.692078; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:696.692078 # Seafloor depth:-736.692078 # 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 = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 50.186748 meters # Minimum depth: 734.288422 meters looking forward 0.000000 meters along route # Maximum depth: 734.288422 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 694.288422 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.734933; longitude = -117.477414; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 692.315640; finalDepth = 694.288422; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:694.288422 # Seafloor depth:-734.288422 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 732.315640 meters looking forward 0.000000 meters along route # Maximum depth: 732.315640 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 692.315640 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.735298; longitude = -117.477370; captureRadius = 10; duration = 50; initialDepth = 689.830101; finalDepth = 692.315640; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:692.31564 # Seafloor depth:-732.315640 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 729.830101 meters looking forward 0.000000 meters along route # Maximum depth: 729.830101 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 689.830101 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.735839; longitude = -117.477304; captureRadius = 10; duration = 50; initialDepth = 688.989137; finalDepth = 689.830101; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:689.830101 # Seafloor depth:-729.830101 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 728.989137 meters looking forward 0.000000 meters along route # Maximum depth: 728.989137 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 688.989137 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.736381; longitude = -117.477238; captureRadius = 10; duration = 50; initialDepth = 689.052280; finalDepth = 688.989137; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:688.989137 # Seafloor depth:-728.989137 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 729.052280 meters looking forward 0.000000 meters along route # Maximum depth: 729.052280 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 689.052280 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.736922; longitude = -117.477172; captureRadius = 10; duration = 50; initialDepth = 688.832733; finalDepth = 689.052280; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:689.05228 # Seafloor depth:-729.052280 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 728.832733 meters looking forward 0.000000 meters along route # Maximum depth: 728.832733 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 688.832733 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.737463; longitude = -117.477106; captureRadius = 10; duration = 50; initialDepth = 692.670630; finalDepth = 688.832733; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:688.832733 # Seafloor depth:-728.832733 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 732.670630 meters looking forward 0.000000 meters along route # Maximum depth: 732.670630 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 692.670630 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.738005; longitude = -117.477040; captureRadius = 10; duration = 50; initialDepth = 695.290056; finalDepth = 692.670630; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:692.67063 # Seafloor depth:-732.670630 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 735.290056 meters looking forward 0.000000 meters along route # Maximum depth: 735.290056 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 695.290056 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.738546; longitude = -117.476974; captureRadius = 10; duration = 50; initialDepth = 698.968129; finalDepth = 695.290056; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:695.290056 # Seafloor depth:-735.290056 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 738.968129 meters looking forward 0.000000 meters along route # Maximum depth: 738.968129 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 698.968129 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.739087; longitude = -117.476909; captureRadius = 10; duration = 50; initialDepth = 700.530522; finalDepth = 698.968129; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:698.968129 # Seafloor depth:-738.968129 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 740.530522 meters looking forward 0.000000 meters along route # Maximum depth: 740.530522 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.530522 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.739629; longitude = -117.476843; captureRadius = 10; duration = 50; initialDepth = 703.304143; finalDepth = 700.530522; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:700.530522 # Seafloor depth:-740.530522 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 743.304143 meters looking forward 0.000000 meters along route # Maximum depth: 743.304143 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 703.304143 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.740193; longitude = -117.476774; captureRadius = 10; duration = 50; initialDepth = 703.508901; finalDepth = 703.304143; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:703.304143 # Seafloor depth:-743.304143 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 743.508901 meters looking forward 0.000000 meters along route # Maximum depth: 743.508901 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 703.508901 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.740712; longitude = -117.476711; captureRadius = 10; duration = 50; initialDepth = 704.923107; finalDepth = 703.508901; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:703.508901 # Seafloor depth:-743.508901 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 744.923107 meters looking forward 0.000000 meters along route # Maximum depth: 744.923107 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 704.923107 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.741253; longitude = -117.476645; captureRadius = 10; duration = 50; initialDepth = 704.907576; finalDepth = 704.923107; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:704.923107 # Seafloor depth:-744.923107 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 744.907576 meters looking forward 0.000000 meters along route # Maximum depth: 744.907576 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 704.907576 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.741794; longitude = -117.476579; captureRadius = 10; duration = 50; initialDepth = 705.483931; finalDepth = 704.907576; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:704.907576 # Seafloor depth:-744.907576 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 745.483931 meters looking forward 0.000000 meters along route # Maximum depth: 745.483931 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 705.483931 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.742336; longitude = -117.476513; captureRadius = 10; duration = 50; initialDepth = 705.558810; finalDepth = 705.483931; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:705.483931 # Seafloor depth:-745.483931 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 745.558810 meters looking forward 0.000000 meters along route # Maximum depth: 745.558810 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 705.558810 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.742877; longitude = -117.476448; captureRadius = 10; duration = 50; initialDepth = 706.936088; finalDepth = 705.558810; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:705.55881 # Seafloor depth:-745.558810 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 746.936088 meters looking forward 0.000000 meters along route # Maximum depth: 746.936088 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 706.936088 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.743418; longitude = -117.476382; captureRadius = 10; duration = 50; initialDepth = 709.232025; finalDepth = 706.936088; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:706.936088 # Seafloor depth:-746.936088 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 749.232025 meters looking forward 0.000000 meters along route # Maximum depth: 749.232025 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 709.232025 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.743960; longitude = -117.476316; captureRadius = 10; duration = 50; initialDepth = 708.822718; finalDepth = 709.232025; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:709.232025 # Seafloor depth:-749.232025 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 748.822718 meters looking forward 0.000000 meters along route # Maximum depth: 748.822718 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 708.822718 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.744501; longitude = -117.476250; captureRadius = 10; duration = 50; initialDepth = 711.098034; finalDepth = 708.822718; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:708.822718 # Seafloor depth:-748.822718 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 751.098034 meters looking forward 0.000000 meters along route # Maximum depth: 751.098034 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 711.098034 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.745042; longitude = -117.476184; captureRadius = 10; duration = 50; initialDepth = 710.800953; finalDepth = 711.098034; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:711.098034 # Seafloor depth:-751.098034 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 750.800953 meters looking forward 0.000000 meters along route # Maximum depth: 750.800953 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 710.800953 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.745584; longitude = -117.476118; captureRadius = 10; duration = 50; initialDepth = 710.740630; finalDepth = 710.800953; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:710.800953 # Seafloor depth:-750.800953 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 750.740630 meters looking forward 0.000000 meters along route # Maximum depth: 750.740630 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 710.740630 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.746125; longitude = -117.476052; captureRadius = 10; duration = 50; initialDepth = 703.561484; finalDepth = 710.740630; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:710.74063 # Seafloor depth:-750.740630 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 743.561484 meters looking forward 0.000000 meters along route # Maximum depth: 743.561484 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 703.561484 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.746667; longitude = -117.475987; captureRadius = 10; duration = 50; initialDepth = 701.339203; finalDepth = 703.561484; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:703.561484 # Seafloor depth:-743.561484 # 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 = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 50.186748 meters # Minimum depth: 741.339203 meters looking forward 0.000000 meters along route # Maximum depth: 741.339203 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 701.339203 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.747197; longitude = -117.475922; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 700.293004; finalDepth = 701.339203; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:701.339203 # Seafloor depth:-741.339203 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 740.293004 meters looking forward 0.000000 meters along route # Maximum depth: 740.293004 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.293004 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.747209; longitude = -117.475974; captureRadius = 10; duration = 50; initialDepth = 702.739890; finalDepth = 700.293004; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:700.293004 # Seafloor depth:-740.293004 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 742.739890 meters looking forward 0.000000 meters along route # Maximum depth: 742.739890 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 702.739890 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.747343; longitude = -117.476541; captureRadius = 10; duration = 50; initialDepth = 709.356791; finalDepth = 702.739890; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:702.73989 # Seafloor depth:-742.739890 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 749.356791 meters looking forward 0.000000 meters along route # Maximum depth: 749.356791 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 709.356791 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.747479; longitude = -117.477115; captureRadius = 10; duration = 50; initialDepth = 718.121629; finalDepth = 709.356791; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:709.356791 # Seafloor depth:-749.356791 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 758.121629 meters looking forward 0.000000 meters along route # Maximum depth: 758.121629 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 718.121629 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.747625; longitude = -117.477734; captureRadius = 10; duration = 50; initialDepth = 726.034840; finalDepth = 718.121629; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:718.121629 # Seafloor depth:-758.121629 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 766.034840 meters looking forward 0.000000 meters along route # Maximum depth: 766.034840 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 726.034840 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.747749; longitude = -117.478261; captureRadius = 10; duration = 50; initialDepth = 732.033365; finalDepth = 726.034840; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:726.03484 # Seafloor depth:-766.034840 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 772.033365 meters looking forward 0.000000 meters along route # Maximum depth: 772.033365 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 732.033365 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.747889; longitude = -117.478855; captureRadius = 10; duration = 50; initialDepth = 738.030242; finalDepth = 732.033365; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:732.033365 # Seafloor depth:-772.033365 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 778.030242 meters looking forward 0.000000 meters along route # Maximum depth: 778.030242 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 738.030242 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.748020; longitude = -117.479408; captureRadius = 10; duration = 50; initialDepth = 741.805188; finalDepth = 738.030242; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:738.030242 # Seafloor depth:-778.030242 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 781.805188 meters looking forward 0.000000 meters along route # Maximum depth: 781.805188 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 741.805188 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.748155; longitude = -117.479981; captureRadius = 10; duration = 50; initialDepth = 745.620066; finalDepth = 741.805188; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:741.805188 # Seafloor depth:-781.805188 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 785.620066 meters looking forward 0.000000 meters along route # Maximum depth: 785.620066 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 745.620066 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.748291; longitude = -117.480554; captureRadius = 10; duration = 50; initialDepth = 750.139625; finalDepth = 745.620066; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:745.620066 # Seafloor depth:-785.620066 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 790.139625 meters looking forward 0.000000 meters along route # Maximum depth: 790.139625 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 750.139625 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.748426; longitude = -117.481127; captureRadius = 10; duration = 50; initialDepth = 752.297026; finalDepth = 750.139625; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:750.139625 # Seafloor depth:-790.139625 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 792.297026 meters looking forward 0.000000 meters along route # Maximum depth: 792.297026 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 752.297026 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.748570; longitude = -117.481736; captureRadius = 10; duration = 50; initialDepth = 755.319698; finalDepth = 752.297026; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:752.297026 # Seafloor depth:-792.297026 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 795.319698 meters looking forward 0.000000 meters along route # Maximum depth: 795.319698 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 755.319698 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.748697; longitude = -117.482274; captureRadius = 10; duration = 50; initialDepth = 757.623666; finalDepth = 755.319698; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:755.319698 # Seafloor depth:-795.319698 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 797.623666 meters looking forward 0.000000 meters along route # Maximum depth: 797.623666 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 757.623666 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.748834; longitude = -117.482856; captureRadius = 10; duration = 50; initialDepth = 759.672380; finalDepth = 757.623666; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:757.623666 # Seafloor depth:-797.623666 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 799.672380 meters looking forward 0.000000 meters along route # Maximum depth: 799.672380 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 759.672380 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.748967; longitude = -117.483420; captureRadius = 10; duration = 50; initialDepth = 758.622333; finalDepth = 759.672380; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:759.67238 # Seafloor depth:-799.672380 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 798.622333 meters looking forward 0.000000 meters along route # Maximum depth: 798.622333 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 758.622333 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.749103; longitude = -117.483994; captureRadius = 10; duration = 50; initialDepth = 758.292413; finalDepth = 758.622333; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:758.622333 # Seafloor depth:-798.622333 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 798.292413 meters looking forward 0.000000 meters along route # Maximum depth: 798.292413 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 758.292413 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.749238; longitude = -117.484567; captureRadius = 10; duration = 50; initialDepth = 758.159012; finalDepth = 758.292413; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:758.292413 # Seafloor depth:-798.292413 # 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 = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 50.186748 meters # Minimum depth: 798.159012 meters looking forward 0.000000 meters along route # Maximum depth: 798.159012 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 758.159012 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.749362; longitude = -117.485092; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 752.582167; finalDepth = 758.159012; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:758.159012 # Seafloor depth:-798.159012 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 792.582167 meters looking forward 0.000000 meters along route # Maximum depth: 792.582167 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 752.582167 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.748832; longitude = -117.484839; captureRadius = 10; duration = 50; initialDepth = 746.451542; finalDepth = 752.582167; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:752.582167 # Seafloor depth:-792.582167 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 786.451542 meters looking forward 0.000000 meters along route # Maximum depth: 786.451542 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 746.451542 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.748368; longitude = -117.484617; captureRadius = 10; duration = 50; initialDepth = 741.363380; finalDepth = 746.451542; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:746.451542 # Seafloor depth:-786.451542 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 781.363380 meters looking forward 0.000000 meters along route # Maximum depth: 781.363380 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 741.363380 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.747885; longitude = -117.484386; captureRadius = 10; duration = 50; initialDepth = 735.430968; finalDepth = 741.363380; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:741.36338 # Seafloor depth:-781.363380 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 775.430968 meters looking forward 0.000000 meters along route # Maximum depth: 775.430968 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 735.430968 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.747343; longitude = -117.484127; captureRadius = 10; duration = 50; initialDepth = 731.291378; finalDepth = 735.430968; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:735.430968 # Seafloor depth:-775.430968 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 771.291378 meters looking forward 0.000000 meters along route # Maximum depth: 771.291378 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 731.291378 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.746802; longitude = -117.483868; captureRadius = 10; duration = 50; initialDepth = 728.366277; finalDepth = 731.291378; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:731.291378 # Seafloor depth:-771.291378 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 768.366277 meters looking forward 0.000000 meters along route # Maximum depth: 768.366277 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 728.366277 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.746359; longitude = -117.483657; captureRadius = 10; duration = 50; initialDepth = 723.506725; finalDepth = 728.366277; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:728.366277 # Seafloor depth:-768.366277 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 763.506725 meters looking forward 0.000000 meters along route # Maximum depth: 763.506725 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 723.506725 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.745854; longitude = -117.483415; captureRadius = 10; duration = 50; initialDepth = 720.003776; finalDepth = 723.506725; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:723.506725 # Seafloor depth:-763.506725 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 760.003776 meters looking forward 0.000000 meters along route # Maximum depth: 760.003776 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 720.003776 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.745313; longitude = -117.483157; captureRadius = 10; duration = 50; initialDepth = 712.569477; finalDepth = 720.003776; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:720.003776 # Seafloor depth:-760.003776 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 752.569477 meters looking forward 0.000000 meters along route # Maximum depth: 752.569477 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 712.569477 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.744772; longitude = -117.482898; captureRadius = 10; duration = 50; initialDepth = 707.943159; finalDepth = 712.569477; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:712.569477 # Seafloor depth:-752.569477 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 747.943159 meters looking forward 0.000000 meters along route # Maximum depth: 747.943159 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 707.943159 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.744350; longitude = -117.482696; captureRadius = 10; duration = 50; initialDepth = 705.778738; finalDepth = 707.943159; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:707.943159 # Seafloor depth:-747.943159 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 745.778738 meters looking forward 0.000000 meters along route # Maximum depth: 745.778738 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 705.778738 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.743824; longitude = -117.482445; captureRadius = 10; duration = 50; initialDepth = 705.569162; finalDepth = 705.778738; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:705.778738 # Seafloor depth:-745.778738 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 745.569162 meters looking forward 0.000000 meters along route # Maximum depth: 745.569162 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 705.569162 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.743345; longitude = -117.482216; captureRadius = 10; duration = 50; initialDepth = 707.075141; finalDepth = 705.569162; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:705.569162 # Seafloor depth:-745.569162 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 747.075141 meters looking forward 0.000000 meters along route # Maximum depth: 747.075141 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 707.075141 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.742877; longitude = -117.481992; captureRadius = 10; duration = 50; initialDepth = 710.973662; finalDepth = 707.075141; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:707.075141 # Seafloor depth:-747.075141 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 750.973662 meters looking forward 0.000000 meters along route # Maximum depth: 750.973662 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 710.973662 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.742336; longitude = -117.481733; captureRadius = 10; duration = 50; initialDepth = 713.165366; finalDepth = 710.973662; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:710.973662 # Seafloor depth:-750.973662 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 753.165366 meters looking forward 0.000000 meters along route # Maximum depth: 753.165366 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 713.165366 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.741794; longitude = -117.481475; captureRadius = 10; duration = 50; initialDepth = 712.737265; finalDepth = 713.165366; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:713.165366 # Seafloor depth:-753.165366 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 752.737265 meters looking forward 0.000000 meters along route # Maximum depth: 752.737265 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 712.737265 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.741336; longitude = -117.481256; captureRadius = 10; duration = 50; initialDepth = 712.515453; finalDepth = 712.737265; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:712.737265 # Seafloor depth:-752.737265 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 752.515453 meters looking forward 0.000000 meters along route # Maximum depth: 752.515453 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 712.515453 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.740847; longitude = -117.481022; captureRadius = 10; duration = 50; initialDepth = 710.177558; finalDepth = 712.515453; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:712.515453 # Seafloor depth:-752.515453 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 750.177558 meters looking forward 0.000000 meters along route # Maximum depth: 750.177558 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 710.177558 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.740305; longitude = -117.480763; captureRadius = 10; duration = 50; initialDepth = 706.414279; finalDepth = 710.177558; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:710.177558 # Seafloor depth:-750.177558 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 746.414279 meters looking forward 0.000000 meters along route # Maximum depth: 746.414279 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 706.414279 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.739764; longitude = -117.480504; captureRadius = 10; duration = 50; initialDepth = 706.000682; finalDepth = 706.414279; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:706.414279 # Seafloor depth:-746.414279 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 746.000682 meters looking forward 0.000000 meters along route # Maximum depth: 746.000682 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 706.000682 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.739327; longitude = -117.480295; captureRadius = 10; duration = 50; initialDepth = 702.487280; finalDepth = 706.000682; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:706.000682 # Seafloor depth:-746.000682 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 742.487280 meters looking forward 0.000000 meters along route # Maximum depth: 742.487280 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 702.487280 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.738817; longitude = -117.480051; captureRadius = 10; duration = 50; initialDepth = 700.213478; finalDepth = 702.487280; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:702.48728 # Seafloor depth:-742.487280 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 740.213478 meters looking forward 0.000000 meters along route # Maximum depth: 740.213478 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.213478 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.738323; longitude = -117.479815; captureRadius = 10; duration = 50; initialDepth = 697.962856; finalDepth = 700.213478; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:700.213478 # Seafloor depth:-740.213478 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 737.962856 meters looking forward 0.000000 meters along route # Maximum depth: 737.962856 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 697.962856 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.737869; longitude = -117.479599; captureRadius = 10; duration = 50; initialDepth = 694.137161; finalDepth = 697.962856; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:697.962856 # Seafloor depth:-737.962856 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 734.137161 meters looking forward 0.000000 meters along route # Maximum depth: 734.137161 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 694.137161 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.737318; longitude = -117.479335; captureRadius = 10; duration = 50; initialDepth = 688.420887; finalDepth = 694.137161; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:694.137161 # Seafloor depth:-734.137161 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 728.420887 meters looking forward 0.000000 meters along route # Maximum depth: 728.420887 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 688.420887 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.736787; longitude = -117.479081; captureRadius = 10; duration = 50; initialDepth = 686.510902; finalDepth = 688.420887; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:688.420887 # Seafloor depth:-728.420887 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 726.510902 meters looking forward 0.000000 meters along route # Maximum depth: 726.510902 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 686.510902 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.736314; longitude = -117.478855; captureRadius = 10; duration = 50; initialDepth = 686.609003; finalDepth = 686.510902; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:686.510902 # Seafloor depth:-726.510902 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 726.609003 meters looking forward 0.000000 meters along route # Maximum depth: 726.609003 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 686.609003 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.735839; longitude = -117.478628; captureRadius = 10; duration = 50; initialDepth = 688.699306; finalDepth = 686.609003; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:686.609003 # Seafloor depth:-726.609003 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 728.699306 meters looking forward 0.000000 meters along route # Maximum depth: 728.699306 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 688.699306 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.735298; longitude = -117.478369; captureRadius = 10; duration = 50; initialDepth = 694.837557; finalDepth = 688.699306; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:688.699306 # Seafloor depth:-728.699306 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 734.837557 meters looking forward 0.000000 meters along route # Maximum depth: 734.837557 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 694.837557 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.734756; longitude = -117.478111; captureRadius = 10; duration = 50; initialDepth = 695.499893; finalDepth = 694.837557; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:694.837557 # Seafloor depth:-734.837557 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 735.499893 meters looking forward 0.000000 meters along route # Maximum depth: 735.499893 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 695.499893 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.734304; longitude = -117.477895; captureRadius = 10; duration = 50; initialDepth = 698.650678; finalDepth = 695.499893; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:695.499893 # Seafloor depth:-735.499893 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 738.650678 meters looking forward 0.000000 meters along route # Maximum depth: 738.650678 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 698.650678 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.733809; longitude = -117.477658; captureRadius = 10; duration = 50; initialDepth = 701.954948; finalDepth = 698.650678; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:698.650678 # Seafloor depth:-738.650678 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 741.954948 meters looking forward 0.000000 meters along route # Maximum depth: 741.954948 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 701.954948 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.733300; longitude = -117.477414; captureRadius = 10; duration = 50; initialDepth = 703.616588; finalDepth = 701.954948; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:701.954948 # Seafloor depth:-741.954948 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 743.616588 meters looking forward 0.000000 meters along route # Maximum depth: 743.616588 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 703.616588 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.732862; longitude = -117.477205; captureRadius = 10; duration = 50; initialDepth = 703.350647; finalDepth = 703.616588; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:703.616588 # Seafloor depth:-743.616588 # 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 = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 50.186748 meters # Minimum depth: 743.350647 meters looking forward 0.000000 meters along route # Maximum depth: 743.350647 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 703.350647 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.732408; longitude = -117.476988; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 708.565432; finalDepth = 703.350647; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:703.350647 # Seafloor depth:-743.350647 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 748.565432 meters looking forward 0.000000 meters along route # Maximum depth: 748.565432 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 708.565432 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.732565; longitude = -117.476454; captureRadius = 10; duration = 50; initialDepth = 705.744944; finalDepth = 708.565432; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:708.565432 # Seafloor depth:-748.565432 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 745.744944 meters looking forward 0.000000 meters along route # Maximum depth: 745.744944 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 705.744944 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.732726; longitude = -117.475906; captureRadius = 10; duration = 50; initialDepth = 704.302937; finalDepth = 705.744944; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:705.744944 # Seafloor depth:-745.744944 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 744.302937 meters looking forward 0.000000 meters along route # Maximum depth: 744.302937 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 704.302937 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.732895; longitude = -117.475334; captureRadius = 10; duration = 50; initialDepth = 702.327151; finalDepth = 704.302937; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:704.302937 # Seafloor depth:-744.302937 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 742.327151 meters looking forward 0.000000 meters along route # Maximum depth: 742.327151 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 702.327151 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.733083; longitude = -117.474693; captureRadius = 10; duration = 50; initialDepth = 701.547114; finalDepth = 702.327151; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:702.327151 # Seafloor depth:-742.327151 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 741.547114 meters looking forward 0.000000 meters along route # Maximum depth: 741.547114 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 701.547114 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.733271; longitude = -117.474053; captureRadius = 10; duration = 50; initialDepth = 700.377120; finalDepth = 701.547114; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:701.547114 # Seafloor depth:-741.547114 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 740.377120 meters looking forward 0.000000 meters along route # Maximum depth: 740.377120 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.377120 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.733460; longitude = -117.473413; captureRadius = 10; duration = 50; initialDepth = 696.131356; finalDepth = 700.377120; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:700.37712 # Seafloor depth:-740.377120 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 736.131356 meters looking forward 0.000000 meters along route # Maximum depth: 736.131356 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 696.131356 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.733648; longitude = -117.472773; captureRadius = 10; duration = 50; initialDepth = 692.240973; finalDepth = 696.131356; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:696.131356 # Seafloor depth:-736.131356 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 732.240973 meters looking forward 0.000000 meters along route # Maximum depth: 732.240973 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 692.240973 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.733809; longitude = -117.472225; captureRadius = 10; duration = 50; initialDepth = 683.222276; finalDepth = 692.240973; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:692.240973 # Seafloor depth:-732.240973 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 723.222276 meters looking forward 0.000000 meters along route # Maximum depth: 723.222276 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 683.222276 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.733978; longitude = -117.471652; captureRadius = 10; duration = 50; initialDepth = 676.042735; finalDepth = 683.222276; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:683.222276 # Seafloor depth:-723.222276 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 716.042735 meters looking forward 0.000000 meters along route # Maximum depth: 716.042735 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 676.042735 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.734166; longitude = -117.471012; captureRadius = 10; duration = 50; initialDepth = 667.483551; finalDepth = 676.042735; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:676.042735 # Seafloor depth:-716.042735 # 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 = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 50.186748 meters # Minimum depth: 707.483551 meters looking forward 0.000000 meters along route # Maximum depth: 707.483551 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 667.483551 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.734332; longitude = -117.470448; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 667.646183; finalDepth = 667.483551; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:667.483551 # Seafloor depth:-707.483551 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 707.646183 meters looking forward 0.000000 meters along route # Maximum depth: 707.646183 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 667.646183 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.734350; longitude = -117.470457; captureRadius = 10; duration = 50; initialDepth = 670.326525; finalDepth = 667.646183; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:667.646183 # Seafloor depth:-707.646183 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 710.326525 meters looking forward 0.000000 meters along route # Maximum depth: 710.326525 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 670.326525 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.734836; longitude = -117.470692; captureRadius = 10; duration = 50; initialDepth = 671.276440; finalDepth = 670.326525; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:670.326525 # Seafloor depth:-710.326525 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 711.276440 meters looking forward 0.000000 meters along route # Maximum depth: 711.276440 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 671.276440 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.735298; longitude = -117.470915; captureRadius = 10; duration = 50; initialDepth = 671.760330; finalDepth = 671.276440; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:671.27644 # Seafloor depth:-711.276440 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 711.760330 meters looking forward 0.000000 meters along route # Maximum depth: 711.760330 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 671.760330 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.735839; longitude = -117.471177; captureRadius = 10; duration = 50; initialDepth = 671.549280; finalDepth = 671.760330; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:671.76033 # Seafloor depth:-711.760330 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 711.549280 meters looking forward 0.000000 meters along route # Maximum depth: 711.549280 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 671.549280 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.736381; longitude = -117.471439; captureRadius = 10; duration = 50; initialDepth = 673.851552; finalDepth = 671.549280; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:671.54928 # Seafloor depth:-711.549280 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 713.851552 meters looking forward 0.000000 meters along route # Maximum depth: 713.851552 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 673.851552 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.736822; longitude = -117.471652; captureRadius = 10; duration = 50; initialDepth = 677.278249; finalDepth = 673.851552; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:673.851552 # Seafloor depth:-713.851552 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 717.278249 meters looking forward 0.000000 meters along route # Maximum depth: 717.278249 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 677.278249 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.737328; longitude = -117.471897; captureRadius = 10; duration = 50; initialDepth = 679.139143; finalDepth = 677.278249; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:677.278249 # Seafloor depth:-717.278249 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 719.139143 meters looking forward 0.000000 meters along route # Maximum depth: 719.139143 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 679.139143 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.737815; longitude = -117.472132; captureRadius = 10; duration = 50; initialDepth = 682.231371; finalDepth = 679.139143; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:679.139143 # Seafloor depth:-719.139143 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 722.231371 meters looking forward 0.000000 meters along route # Maximum depth: 722.231371 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 682.231371 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.738275; longitude = -117.472355; captureRadius = 10; duration = 50; initialDepth = 681.142412; finalDepth = 682.231371; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:682.231371 # Seafloor depth:-722.231371 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 721.142412 meters looking forward 0.000000 meters along route # Maximum depth: 721.142412 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 681.142412 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.738817; longitude = -117.472617; captureRadius = 10; duration = 50; initialDepth = 676.862005; finalDepth = 681.142412; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:681.142412 # Seafloor depth:-721.142412 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 716.862005 meters looking forward 0.000000 meters along route # Maximum depth: 716.862005 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 676.862005 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.739358; longitude = -117.472879; captureRadius = 10; duration = 50; initialDepth = 678.020533; finalDepth = 676.862005; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:676.862005 # Seafloor depth:-716.862005 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 718.020533 meters looking forward 0.000000 meters along route # Maximum depth: 718.020533 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 678.020533 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.739800; longitude = -117.473093; captureRadius = 10; duration = 50; initialDepth = 683.669922; finalDepth = 678.020533; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:678.020533 # Seafloor depth:-718.020533 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 723.669922 meters looking forward 0.000000 meters along route # Maximum depth: 723.669922 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 683.669922 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.740305; longitude = -117.473337; captureRadius = 10; duration = 50; initialDepth = 691.345964; finalDepth = 683.669922; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:683.669922 # Seafloor depth:-723.669922 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 731.345964 meters looking forward 0.000000 meters along route # Maximum depth: 731.345964 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 691.345964 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.740793; longitude = -117.473573; captureRadius = 10; duration = 50; initialDepth = 695.625103; finalDepth = 691.345964; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:691.345964 # Seafloor depth:-731.345964 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 735.625103 meters looking forward 0.000000 meters along route # Maximum depth: 735.625103 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 695.625103 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.741253; longitude = -117.473796; captureRadius = 10; duration = 50; initialDepth = 698.020698; finalDepth = 695.625103; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:695.625103 # Seafloor depth:-735.625103 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 738.020698 meters looking forward 0.000000 meters along route # Maximum depth: 738.020698 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 698.020698 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.741794; longitude = -117.474057; captureRadius = 10; duration = 50; initialDepth = 700.355803; finalDepth = 698.020698; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:698.020698 # Seafloor depth:-738.020698 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 740.355803 meters looking forward 0.000000 meters along route # Maximum depth: 740.355803 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.355803 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.742336; longitude = -117.474319; captureRadius = 10; duration = 50; initialDepth = 702.611316; finalDepth = 700.355803; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:700.355803 # Seafloor depth:-740.355803 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 742.611316 meters looking forward 0.000000 meters along route # Maximum depth: 742.611316 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 702.611316 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.742778; longitude = -117.474533; captureRadius = 10; duration = 50; initialDepth = 704.307672; finalDepth = 702.611316; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:702.611316 # Seafloor depth:-742.611316 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 744.307672 meters looking forward 0.000000 meters along route # Maximum depth: 744.307672 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 704.307672 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.743283; longitude = -117.474777; captureRadius = 10; duration = 50; initialDepth = 705.567819; finalDepth = 704.307672; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:704.307672 # Seafloor depth:-744.307672 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 745.567819 meters looking forward 0.000000 meters along route # Maximum depth: 745.567819 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 705.567819 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.743771; longitude = -117.475013; captureRadius = 10; duration = 50; initialDepth = 708.204051; finalDepth = 705.567819; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:705.567819 # Seafloor depth:-745.567819 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 748.204051 meters looking forward 0.000000 meters along route # Maximum depth: 748.204051 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 708.204051 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.744230; longitude = -117.475236; captureRadius = 10; duration = 50; initialDepth = 712.166759; finalDepth = 708.204051; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:708.204051 # Seafloor depth:-748.204051 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 752.166759 meters looking forward 0.000000 meters along route # Maximum depth: 752.166759 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 712.166759 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.744772; longitude = -117.475498; captureRadius = 10; duration = 50; initialDepth = 711.774435; finalDepth = 712.166759; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:712.166759 # Seafloor depth:-752.166759 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 751.774435 meters looking forward 0.000000 meters along route # Maximum depth: 751.774435 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 711.774435 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.745313; longitude = -117.475759; captureRadius = 10; duration = 50; initialDepth = 711.746324; finalDepth = 711.774435; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:711.774435 # Seafloor depth:-751.774435 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 751.746324 meters looking forward 0.000000 meters along route # Maximum depth: 751.746324 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 711.746324 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.745757; longitude = -117.475974; captureRadius = 10; duration = 50; initialDepth = 708.358897; finalDepth = 711.746324; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:711.746324 # Seafloor depth:-751.746324 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 748.358897 meters looking forward 0.000000 meters along route # Maximum depth: 748.358897 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 708.358897 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.746261; longitude = -117.476218; captureRadius = 10; duration = 50; initialDepth = 705.189570; finalDepth = 708.358897; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:708.358897 # Seafloor depth:-748.358897 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 745.189570 meters looking forward 0.000000 meters along route # Maximum depth: 745.189570 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 705.189570 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.746749; longitude = -117.476454; captureRadius = 10; duration = 50; initialDepth = 703.578562; finalDepth = 705.189570; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:705.18957 # Seafloor depth:-745.189570 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 743.578562 meters looking forward 0.000000 meters along route # Maximum depth: 743.578562 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 703.578562 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.747208; longitude = -117.476676; captureRadius = 10; duration = 50; initialDepth = 710.677463; finalDepth = 703.578562; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:703.578562 # Seafloor depth:-743.578562 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 750.677463 meters looking forward 0.000000 meters along route # Maximum depth: 750.677463 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 710.677463 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.747749; longitude = -117.476938; captureRadius = 10; duration = 50; initialDepth = 721.233859; finalDepth = 710.677463; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:710.677463 # Seafloor depth:-750.677463 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 761.233859 meters looking forward 0.000000 meters along route # Maximum depth: 761.233859 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 721.233859 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.748291; longitude = -117.477200; captureRadius = 10; duration = 50; initialDepth = 727.784974; finalDepth = 721.233859; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:721.233859 # Seafloor depth:-761.233859 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 767.784974 meters looking forward 0.000000 meters along route # Maximum depth: 767.784974 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 727.784974 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.748735; longitude = -117.477414; captureRadius = 10; duration = 50; initialDepth = 735.182896; finalDepth = 727.784974; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:727.784974 # Seafloor depth:-767.784974 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 775.182896 meters looking forward 0.000000 meters along route # Maximum depth: 775.182896 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 735.182896 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.749238; longitude = -117.477658; captureRadius = 10; duration = 50; initialDepth = 748.541026; finalDepth = 735.182896; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:735.182896 # Seafloor depth:-775.182896 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 788.541026 meters looking forward 0.000000 meters along route # Maximum depth: 788.541026 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 748.541026 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.749779; longitude = -117.477920; captureRadius = 10; duration = 50; initialDepth = 750.165649; finalDepth = 748.541026; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:748.541026 # Seafloor depth:-788.541026 # 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 = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 50.186748 meters # Minimum depth: 790.165649 meters looking forward 0.000000 meters along route # Maximum depth: 790.165649 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 750.165649 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.750204; longitude = -117.478125; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 751.678513; finalDepth = 750.165649; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:750.165649 # Seafloor depth:-790.165649 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 791.678513 meters looking forward 0.000000 meters along route # Maximum depth: 791.678513 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 751.678513 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.750412; longitude = -117.478215; captureRadius = 10; duration = 50; initialDepth = 760.232516; finalDepth = 751.678513; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:751.678513 # Seafloor depth:-791.678513 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 800.232516 meters looking forward 0.000000 meters along route # Maximum depth: 800.232516 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 760.232516 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.750862; longitude = -117.478408; captureRadius = 10; duration = 50; initialDepth = 770.334081; finalDepth = 760.232516; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:760.232516 # Seafloor depth:-800.232516 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 810.334081 meters looking forward 0.000000 meters along route # Maximum depth: 810.334081 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 770.334081 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.751403; longitude = -117.478641; captureRadius = 10; duration = 50; initialDepth = 786.864227; finalDepth = 770.334081; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:770.334081 # Seafloor depth:-810.334081 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 826.864227 meters looking forward 0.000000 meters along route # Maximum depth: 826.864227 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 786.864227 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.751945; longitude = -117.478874; captureRadius = 10; duration = 50; initialDepth = 793.006228; finalDepth = 786.864227; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:786.864227 # Seafloor depth:-826.864227 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 833.006228 meters looking forward 0.000000 meters along route # Maximum depth: 833.006228 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 793.006228 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.752486; longitude = -117.479107; captureRadius = 10; duration = 50; initialDepth = 797.415113; finalDepth = 793.006228; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:793.006228 # Seafloor depth:-833.006228 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 837.415113 meters looking forward 0.000000 meters along route # Maximum depth: 837.415113 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 797.415113 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.753028; longitude = -117.479340; captureRadius = 10; duration = 50; initialDepth = 799.758484; finalDepth = 797.415113; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:797.415113 # Seafloor depth:-837.415113 # 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 = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 50.186748 meters # Minimum depth: 839.758484 meters looking forward 0.000000 meters along route # Maximum depth: 839.758484 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 799.758484 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.753510; longitude = -117.479547; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 797.318937; finalDepth = 799.758484; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:799.758484 # Seafloor depth:-839.758484 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 837.318937 meters looking forward 0.000000 meters along route # Maximum depth: 837.318937 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 797.318937 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.753840; longitude = -117.479391; captureRadius = 10; duration = 50; initialDepth = 795.160648; finalDepth = 797.318937; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:797.318937 # Seafloor depth:-837.318937 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 835.160648 meters looking forward 0.000000 meters along route # Maximum depth: 835.160648 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 795.160648 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.754297; longitude = -117.479175; captureRadius = 10; duration = 50; initialDepth = 793.693603; finalDepth = 795.160648; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:795.160648 # Seafloor depth:-835.160648 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 833.693603 meters looking forward 0.000000 meters along route # Maximum depth: 833.693603 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 793.693603 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.754787; longitude = -117.478943; captureRadius = 10; duration = 50; initialDepth = 786.460342; finalDepth = 793.693603; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:793.693603 # Seafloor depth:-833.693603 # 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 = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 50.186748 meters # Minimum depth: 826.460342 meters looking forward 0.000000 meters along route # Maximum depth: 826.460342 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 786.460342 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.755314; longitude = -117.478694; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 786.914425; finalDepth = 786.460342; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:786.460342 # Seafloor depth:-826.460342 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 826.914425 meters looking forward 0.000000 meters along route # Maximum depth: 826.914425 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 786.914425 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.755328; longitude = -117.478699; captureRadius = 10; duration = 50; initialDepth = 782.148689; finalDepth = 786.914425; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:786.914425 # Seafloor depth:-826.914425 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 822.148689 meters looking forward 0.000000 meters along route # Maximum depth: 822.148689 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 782.148689 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.755772; longitude = -117.478855; captureRadius = 10; duration = 50; initialDepth = 778.931010; finalDepth = 782.148689; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:782.148689 # Seafloor depth:-822.148689 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 818.931010 meters looking forward 0.000000 meters along route # Maximum depth: 818.931010 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 778.931010 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.756227; longitude = -117.479015; captureRadius = 10; duration = 50; initialDepth = 774.882790; finalDepth = 778.931010; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:778.93101 # Seafloor depth:-818.931010 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 814.882790 meters looking forward 0.000000 meters along route # Maximum depth: 814.882790 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 774.882790 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.756682; longitude = -117.479175; captureRadius = 10; duration = 50; initialDepth = 771.357278; finalDepth = 774.882790; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:774.88279 # Seafloor depth:-814.882790 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 811.357278 meters looking forward 0.000000 meters along route # Maximum depth: 811.357278 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 771.357278 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.757137; longitude = -117.479335; captureRadius = 10; duration = 50; initialDepth = 769.405329; finalDepth = 771.357278; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:771.357278 # Seafloor depth:-811.357278 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 809.405329 meters looking forward 0.000000 meters along route # Maximum depth: 809.405329 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 769.405329 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.757593; longitude = -117.479495; captureRadius = 10; duration = 50; initialDepth = 768.665665; finalDepth = 769.405329; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:769.405329 # Seafloor depth:-809.405329 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 808.665665 meters looking forward 0.000000 meters along route # Maximum depth: 808.665665 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 768.665665 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.758048; longitude = -117.479655; captureRadius = 10; duration = 50; initialDepth = 767.917289; finalDepth = 768.665665; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:768.665665 # Seafloor depth:-808.665665 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 807.917289 meters looking forward 0.000000 meters along route # Maximum depth: 807.917289 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 767.917289 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.758503; longitude = -117.479815; captureRadius = 10; duration = 50; initialDepth = 767.871039; finalDepth = 767.917289; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:767.917289 # Seafloor depth:-807.917289 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 807.871039 meters looking forward 0.000000 meters along route # Maximum depth: 807.871039 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 767.871039 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.758959; longitude = -117.479975; captureRadius = 10; duration = 50; initialDepth = 767.065063; finalDepth = 767.871039; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:767.871039 # Seafloor depth:-807.871039 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 807.065063 meters looking forward 0.000000 meters along route # Maximum depth: 807.065063 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 767.065063 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.759414; longitude = -117.480135; captureRadius = 10; duration = 50; initialDepth = 763.370630; finalDepth = 767.065063; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:767.065063 # Seafloor depth:-807.065063 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 803.370630 meters looking forward 0.000000 meters along route # Maximum depth: 803.370630 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 763.370630 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.759869; longitude = -117.480295; captureRadius = 10; duration = 50; initialDepth = 759.964354; finalDepth = 763.370630; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:763.37063 # Seafloor depth:-803.370630 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 799.964354 meters looking forward 0.000000 meters along route # Maximum depth: 799.964354 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 759.964354 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.760336; longitude = -117.480459; captureRadius = 10; duration = 50; initialDepth = 765.729172; finalDepth = 759.964354; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:759.964354 # Seafloor depth:-799.964354 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 805.729172 meters looking forward 0.000000 meters along route # Maximum depth: 805.729172 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 765.729172 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.760780; longitude = -117.480615; captureRadius = 10; duration = 50; initialDepth = 775.487321; finalDepth = 765.729172; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:765.729172 # Seafloor depth:-805.729172 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 815.487321 meters looking forward 0.000000 meters along route # Maximum depth: 815.487321 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 775.487321 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.761235; longitude = -117.480776; captureRadius = 10; duration = 50; initialDepth = 783.695206; finalDepth = 775.487321; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:775.487321 # Seafloor depth:-815.487321 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 823.695206 meters looking forward 0.000000 meters along route # Maximum depth: 823.695206 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 783.695206 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.761690; longitude = -117.480936; captureRadius = 10; duration = 50; initialDepth = 788.331074; finalDepth = 783.695206; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:783.695206 # Seafloor depth:-823.695206 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 828.331074 meters looking forward 0.000000 meters along route # Maximum depth: 828.331074 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 788.331074 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.762146; longitude = -117.481096; captureRadius = 10; duration = 50; initialDepth = 788.911602; finalDepth = 788.331074; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:788.331074 # Seafloor depth:-828.331074 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 828.911602 meters looking forward 0.000000 meters along route # Maximum depth: 828.911602 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 788.911602 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.762601; longitude = -117.481256; captureRadius = 10; duration = 50; initialDepth = 789.126143; finalDepth = 788.911602; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:788.911602 # Seafloor depth:-828.911602 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 829.126143 meters looking forward 0.000000 meters along route # Maximum depth: 829.126143 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 789.126143 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.763056; longitude = -117.481416; captureRadius = 10; duration = 50; initialDepth = 787.177291; finalDepth = 789.126143; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:789.126143 # Seafloor depth:-829.126143 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 827.177291 meters looking forward 0.000000 meters along route # Maximum depth: 827.177291 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 787.177291 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.763512; longitude = -117.481576; captureRadius = 10; duration = 50; initialDepth = 787.567004; finalDepth = 787.177291; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:787.177291 # Seafloor depth:-827.177291 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 827.567004 meters looking forward 0.000000 meters along route # Maximum depth: 827.567004 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 787.567004 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.763967; longitude = -117.481736; captureRadius = 10; duration = 50; initialDepth = 795.025270; finalDepth = 787.567004; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:787.567004 # Seafloor depth:-827.567004 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 835.025270 meters looking forward 0.000000 meters along route # Maximum depth: 835.025270 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 795.025270 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.764422; longitude = -117.481896; captureRadius = 10; duration = 50; initialDepth = 800.387401; finalDepth = 795.025270; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:795.02527 # Seafloor depth:-835.025270 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 840.387401 meters looking forward 0.000000 meters along route # Maximum depth: 840.387401 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.764878; longitude = -117.482056; captureRadius = 10; duration = 50; initialDepth = 805.770354; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.387401 # Actual altitude: 50 # Commanded vehicle depth:800 # Seafloor depth:-840.387401 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 845.770354 meters looking forward 0.000000 meters along route # Maximum depth: 845.770354 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.765344; longitude = -117.482220; captureRadius = 10; duration = 50; initialDepth = 806.191003; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.770354 # Actual altitude: 50 # Commanded vehicle depth:800 # Seafloor depth:-845.770354 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 846.191003 meters looking forward 0.000000 meters along route # Maximum depth: 846.191003 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.765788; longitude = -117.482376; captureRadius = 10; duration = 50; initialDepth = 804.620121; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.191003 # Actual altitude: 50 # Commanded vehicle depth:800 # Seafloor depth:-846.191003 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 844.620121 meters looking forward 0.000000 meters along route # Maximum depth: 844.620121 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.766243; longitude = -117.482536; captureRadius = 10; duration = 50; initialDepth = 798.885933; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.191003 # Actual altitude: 50 # Commanded vehicle depth:800 # Seafloor depth:-844.620121 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 838.885933 meters looking forward 0.000000 meters along route # Maximum depth: 838.885933 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 798.885933 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.766699; longitude = -117.482696; captureRadius = 10; duration = 50; initialDepth = 792.499922; finalDepth = 798.885933; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.620121 # Actual altitude: 50 # Commanded vehicle depth:798.885933 # Seafloor depth:-838.885933 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 832.499922 meters looking forward 0.000000 meters along route # Maximum depth: 832.499922 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 792.499922 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.767154; longitude = -117.482856; captureRadius = 10; duration = 50; initialDepth = 785.717770; finalDepth = 792.499922; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:792.499922 # Seafloor depth:-832.499922 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 825.717770 meters looking forward 0.000000 meters along route # Maximum depth: 825.717770 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 785.717770 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.767644; longitude = -117.483029; captureRadius = 10; duration = 50; initialDepth = 780.925114; finalDepth = 785.717770; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:785.71777 # Seafloor depth:-825.717770 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 820.925114 meters looking forward 0.000000 meters along route # Maximum depth: 820.925114 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 780.925114 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.768186; longitude = -117.483219; captureRadius = 10; duration = 50; initialDepth = 779.071625; finalDepth = 780.925114; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:780.925114 # Seafloor depth:-820.925114 # 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 = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 50.186748 meters # Minimum depth: 819.071625 meters looking forward 0.000000 meters along route # Maximum depth: 819.071625 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 779.071625 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.768661; longitude = -117.483386; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 782.806436; finalDepth = 779.071625; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:779.071625 # Seafloor depth:-819.071625 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 822.806436 meters looking forward 0.000000 meters along route # Maximum depth: 822.806436 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 782.806436 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.768671; longitude = -117.483977; captureRadius = 10; duration = 50; initialDepth = 785.700178; finalDepth = 782.806436; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:782.806436 # Seafloor depth:-822.806436 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 825.700178 meters looking forward 0.000000 meters along route # Maximum depth: 825.700178 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 785.700178 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.768682; longitude = -117.484617; captureRadius = 10; duration = 50; initialDepth = 785.539245; finalDepth = 785.700178; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:785.700178 # Seafloor depth:-825.700178 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 825.539245 meters looking forward 0.000000 meters along route # Maximum depth: 825.539245 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 785.539245 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.768694; longitude = -117.485257; captureRadius = 10; duration = 50; initialDepth = 786.826299; finalDepth = 785.539245; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:785.539245 # Seafloor depth:-825.539245 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 826.826299 meters looking forward 0.000000 meters along route # Maximum depth: 826.826299 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 786.826299 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.768705; longitude = -117.485897; captureRadius = 10; duration = 50; initialDepth = 791.727683; finalDepth = 786.826299; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:786.826299 # Seafloor depth:-826.826299 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 831.727683 meters looking forward 0.000000 meters along route # Maximum depth: 831.727683 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 791.727683 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.768716; longitude = -117.486538; captureRadius = 10; duration = 50; initialDepth = 796.320256; finalDepth = 791.727683; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:791.727683 # Seafloor depth:-831.727683 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 836.320256 meters looking forward 0.000000 meters along route # Maximum depth: 836.320256 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 796.320256 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.768727; longitude = -117.487190; captureRadius = 10; duration = 50; initialDepth = 800.332526; finalDepth = 796.320256; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:796.320256 # Seafloor depth:-836.320256 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 840.332526 meters looking forward 0.000000 meters along route # Maximum depth: 840.332526 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.768738; longitude = -117.487818; captureRadius = 10; duration = 50; initialDepth = 804.654639; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.332526 # Actual altitude: 50 # Commanded vehicle depth:800 # Seafloor depth:-840.332526 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 844.654639 meters looking forward 0.000000 meters along route # Maximum depth: 844.654639 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.768749; longitude = -117.488458; captureRadius = 10; duration = 50; initialDepth = 809.020746; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.654639 # Actual altitude: 50 # Commanded vehicle depth:800 # Seafloor depth:-844.654639 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 849.020746 meters looking forward 0.000000 meters along route # Maximum depth: 849.020746 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.768760; longitude = -117.489098; captureRadius = 10; duration = 50; initialDepth = 816.595605; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.020746 # Actual altitude: 50 # Commanded vehicle depth:800 # Seafloor depth:-849.020746 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 856.595605 meters looking forward 0.000000 meters along route # Maximum depth: 856.595605 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.768772; longitude = -117.489739; captureRadius = 10; duration = 50; initialDepth = 815.672806; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.595605 # Actual altitude: 56.595605 # Commanded vehicle depth:800 # Seafloor depth:-856.595605 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.64; MB_Bottom_Detect_Filter_Max_Range = 226.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 169.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 42 # Segment length 50.186748 meters # Minimum depth: 855.672806 meters looking forward 0.000000 meters along route # Maximum depth: 855.672806 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.768781; longitude = -117.490281; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 813.851722; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.595605 # Actual altitude: 56.595605 # Commanded vehicle depth:800 # Seafloor depth:-855.672806 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.64; MB_Bottom_Detect_Filter_Max_Range = 226.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 169.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 50.186748 meters # Minimum depth: 853.851722 meters looking forward 0.000000 meters along route # Maximum depth: 853.851722 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.768863; longitude = -117.490283; captureRadius = 10; duration = 50; initialDepth = 817.701133; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.672806 # Actual altitude: 55.672806 # Commanded vehicle depth:800 # Seafloor depth:-853.851722 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.27; MB_Bottom_Detect_Filter_Max_Range = 222.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 167.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 50.186748 meters # Minimum depth: 857.701133 meters looking forward 0.000000 meters along route # Maximum depth: 857.701133 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.769404; longitude = -117.490299; captureRadius = 10; duration = 50; initialDepth = 820.683756; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.701133 # Actual altitude: 57.701133 # Commanded vehicle depth:800 # Seafloor depth:-857.701133 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 230.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.08; MB_Bottom_Detect_Filter_Max_Range = 230.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 173.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 50.186748 meters # Minimum depth: 860.683756 meters looking forward 0.000000 meters along route # Maximum depth: 860.683756 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.769945; longitude = -117.490314; captureRadius = 10; duration = 50; initialDepth = 826.529535; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.683756 # Actual altitude: 60.683756 # Commanded vehicle depth:800 # Seafloor depth:-860.683756 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 242.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.27; MB_Bottom_Detect_Filter_Max_Range = 242.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 182.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 50.186748 meters # Minimum depth: 866.529535 meters looking forward 0.000000 meters along route # Maximum depth: 866.529535 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.770487; longitude = -117.490329; captureRadius = 10; duration = 50; initialDepth = 836.689452; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.529535 # Actual altitude: 66.529535 # Commanded vehicle depth:800 # Seafloor depth:-866.529535 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 266.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.61; MB_Bottom_Detect_Filter_Max_Range = 266.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 199.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 50.186748 meters # Minimum depth: 876.689452 meters looking forward 0.000000 meters along route # Maximum depth: 876.689452 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.771028; longitude = -117.490344; captureRadius = 10; duration = 50; initialDepth = 847.976350; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.689452 # Actual altitude: 76.689452 # Commanded vehicle depth:800 # Seafloor depth:-876.689452 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 306.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.68; MB_Bottom_Detect_Filter_Max_Range = 306.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 230.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 50.186748 meters # Minimum depth: 887.976350 meters looking forward 0.000000 meters along route # Maximum depth: 887.976350 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.771569; longitude = -117.490360; captureRadius = 10; duration = 50; initialDepth = 856.861430; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.97635 # Actual altitude: 87.97635 # Commanded vehicle depth:800 # Seafloor depth:-887.976350 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 351.91; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.19; MB_Bottom_Detect_Filter_Max_Range = 351.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 263.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 50.186748 meters # Minimum depth: 896.861430 meters looking forward 0.000000 meters along route # Maximum depth: 896.861430 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.772111; longitude = -117.490375; captureRadius = 10; duration = 50; initialDepth = 860.084826; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 96.86143 # Actual altitude: 96.86143 # Commanded vehicle depth:800 # Seafloor depth:-896.861430 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 387.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.74; MB_Bottom_Detect_Filter_Max_Range = 387.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 290.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 50.186748 meters # Minimum depth: 900.084826 meters looking forward 0.000000 meters along route # Maximum depth: 900.084826 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.772652; longitude = -117.490390; captureRadius = 10; duration = 50; initialDepth = 860.262038; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 100.084826 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-900.084826 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 50.186748 meters # Minimum depth: 900.262038 meters looking forward 0.000000 meters along route # Maximum depth: 900.262038 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.773193; longitude = -117.490406; captureRadius = 10; duration = 50; initialDepth = 860.026343; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 100.262038 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-900.262038 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 50.186748 meters # Minimum depth: 900.026343 meters looking forward 0.000000 meters along route # Maximum depth: 900.026343 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.773735; longitude = -117.490421; captureRadius = 10; duration = 50; initialDepth = 860.740721; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 100.262038 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-900.026343 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 50.186748 meters # Minimum depth: 900.740721 meters looking forward 0.000000 meters along route # Maximum depth: 900.740721 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.774276; longitude = -117.490436; captureRadius = 10; duration = 50; initialDepth = 859.802022; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 100.740721 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-900.740721 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 50.186748 meters # Minimum depth: 899.802022 meters looking forward 0.000000 meters along route # Maximum depth: 899.802022 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.774818; longitude = -117.490452; captureRadius = 10; duration = 50; initialDepth = 860.751397; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 100.740721 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-899.802022 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 50.186748 meters # Minimum depth: 900.751397 meters looking forward 0.000000 meters along route # Maximum depth: 900.751397 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.775359; longitude = -117.490467; captureRadius = 10; duration = 50; initialDepth = 859.900604; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 100.751397 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-900.751397 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 50.186748 meters # Minimum depth: 899.900604 meters looking forward 0.000000 meters along route # Maximum depth: 899.900604 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.775900; longitude = -117.490482; captureRadius = 10; duration = 50; initialDepth = 860.305542; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 100.751397 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-899.900604 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 41 # Segment length 50.186748 meters # Minimum depth: 900.305542 meters looking forward 0.000000 meters along route # Maximum depth: 900.305542 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.776356; longitude = -117.490495; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 857.671170; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 100.305542 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-900.305542 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 50.186748 meters # Minimum depth: 897.671170 meters looking forward 0.000000 meters along route # Maximum depth: 897.671170 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.776712; longitude = -117.490880; captureRadius = 10; duration = 50; initialDepth = 851.646398; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 100.305542 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-897.671170 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 50.186748 meters # Minimum depth: 891.646398 meters looking forward 0.000000 meters along route # Maximum depth: 891.646398 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.777137; longitude = -117.491339; captureRadius = 10; duration = 50; initialDepth = 843.078134; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 97.67117 # Actual altitude: 97.67117 # Commanded vehicle depth:800 # Seafloor depth:-891.646398 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 390.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.07; MB_Bottom_Detect_Filter_Max_Range = 390.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 293.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 50.186748 meters # Minimum depth: 883.078134 meters looking forward 0.000000 meters along route # Maximum depth: 883.078134 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.777582; longitude = -117.491819; captureRadius = 10; duration = 50; initialDepth = 835.696432; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 91.646398 # Actual altitude: 91.646398 # Commanded vehicle depth:800 # Seafloor depth:-883.078134 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 366.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.66; MB_Bottom_Detect_Filter_Max_Range = 366.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 274.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 50.186748 meters # Minimum depth: 875.696432 meters looking forward 0.000000 meters along route # Maximum depth: 875.696432 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.777930; longitude = -117.492196; captureRadius = 10; duration = 50; initialDepth = 829.727394; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.078134 # Actual altitude: 83.078134 # Commanded vehicle depth:800 # Seafloor depth:-875.696432 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 332.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.23; MB_Bottom_Detect_Filter_Max_Range = 332.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 249.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 50.186748 meters # Minimum depth: 869.727394 meters looking forward 0.000000 meters along route # Maximum depth: 869.727394 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.778336; longitude = -117.492634; captureRadius = 10; duration = 50; initialDepth = 825.362561; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.696432 # Actual altitude: 75.696432 # Commanded vehicle depth:800 # Seafloor depth:-869.727394 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 302.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.28; MB_Bottom_Detect_Filter_Max_Range = 302.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 227.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 50.186748 meters # Minimum depth: 865.362561 meters looking forward 0.000000 meters along route # Maximum depth: 865.362561 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.778767; longitude = -117.493100; captureRadius = 10; duration = 50; initialDepth = 821.953747; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.727394 # Actual altitude: 69.727394 # Commanded vehicle depth:800 # Seafloor depth:-865.362561 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 278.91; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.89; MB_Bottom_Detect_Filter_Max_Range = 278.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 50.186748 meters # Minimum depth: 861.953747 meters looking forward 0.000000 meters along route # Maximum depth: 861.953747 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.779149; longitude = -117.493512; captureRadius = 10; duration = 50; initialDepth = 820.568508; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.362561 # Actual altitude: 65.362561 # Commanded vehicle depth:800 # Seafloor depth:-861.953747 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 261.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.15; MB_Bottom_Detect_Filter_Max_Range = 261.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 196.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 50.186748 meters # Minimum depth: 860.568508 meters looking forward 0.000000 meters along route # Maximum depth: 860.568508 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.779508; longitude = -117.493900; captureRadius = 10; duration = 50; initialDepth = 824.806870; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.953747 # Actual altitude: 61.953747 # Commanded vehicle depth:800 # Seafloor depth:-860.568508 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 247.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.78; MB_Bottom_Detect_Filter_Max_Range = 247.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 185.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 40 # Segment length 50.186748 meters # Minimum depth: 864.806870 meters looking forward 0.000000 meters along route # Maximum depth: 864.806870 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.779843; longitude = -117.494262; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 826.913004; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.80687 # Actual altitude: 64.80687 # Commanded vehicle depth:800 # Seafloor depth:-864.806870 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 259.23; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.92; MB_Bottom_Detect_Filter_Max_Range = 259.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 194.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 50.186748 meters # Minimum depth: 866.913004 meters looking forward 0.000000 meters along route # Maximum depth: 866.913004 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.779774; longitude = -117.494700; captureRadius = 10; duration = 50; initialDepth = 834.210658; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.913004 # Actual altitude: 66.913004 # Commanded vehicle depth:800 # Seafloor depth:-866.913004 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 267.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.77; MB_Bottom_Detect_Filter_Max_Range = 267.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 50.186748 meters # Minimum depth: 874.210658 meters looking forward 0.000000 meters along route # Maximum depth: 874.210658 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.779674; longitude = -117.495341; captureRadius = 10; duration = 50; initialDepth = 845.499922; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.210658 # Actual altitude: 74.210658 # Commanded vehicle depth:800 # Seafloor depth:-874.210658 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 296.84; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.68; MB_Bottom_Detect_Filter_Max_Range = 296.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 50.186748 meters # Minimum depth: 885.499922 meters looking forward 0.000000 meters along route # Maximum depth: 885.499922 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.779574; longitude = -117.495981; captureRadius = 10; duration = 50; initialDepth = 856.472865; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.499922 # Actual altitude: 85.499922 # Commanded vehicle depth:800 # Seafloor depth:-885.499922 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 342.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.20; MB_Bottom_Detect_Filter_Max_Range = 342.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 256.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 50.186748 meters # Minimum depth: 896.472865 meters looking forward 0.000000 meters along route # Maximum depth: 896.472865 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.779473; longitude = -117.496621; captureRadius = 10; duration = 50; initialDepth = 869.741294; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 96.472865 # Actual altitude: 96.472865 # Commanded vehicle depth:800 # Seafloor depth:-896.472865 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 385.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.59; MB_Bottom_Detect_Filter_Max_Range = 385.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 289.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 50.186748 meters # Minimum depth: 909.741294 meters looking forward 0.000000 meters along route # Maximum depth: 909.741294 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.779373; longitude = -117.497261; captureRadius = 10; duration = 50; initialDepth = 882.880621; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 109.741294 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-909.741294 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 50.186748 meters # Minimum depth: 922.880621 meters looking forward 0.000000 meters along route # Maximum depth: 922.880621 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.779284; longitude = -117.497829; captureRadius = 10; duration = 50; initialDepth = 885.293716; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 122.880621 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-922.880621 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 50.186748 meters # Minimum depth: 925.293716 meters looking forward 0.000000 meters along route # Maximum depth: 925.293716 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.779197; longitude = -117.498382; captureRadius = 10; duration = 50; initialDepth = 882.814559; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 125.293716 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-925.293716 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 50.186748 meters # Minimum depth: 922.814559 meters looking forward 0.000000 meters along route # Maximum depth: 922.814559 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.779097; longitude = -117.499022; captureRadius = 10; duration = 50; initialDepth = 874.863079; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 125.293716 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-922.814559 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 50.186748 meters # Minimum depth: 914.863079 meters looking forward 0.000000 meters along route # Maximum depth: 914.863079 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.778996; longitude = -117.499662; captureRadius = 10; duration = 50; initialDepth = 872.530069; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 122.814559 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-914.863079 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 50.186748 meters # Minimum depth: 912.530069 meters looking forward 0.000000 meters along route # Maximum depth: 912.530069 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.778896; longitude = -117.500302; captureRadius = 10; duration = 50; initialDepth = 871.017770; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 114.863079 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-912.530069 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 50.186748 meters # Minimum depth: 911.017770 meters looking forward 0.000000 meters along route # Maximum depth: 911.017770 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.778796; longitude = -117.500943; captureRadius = 10; duration = 50; initialDepth = 870.773567; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 112.530069 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-911.017770 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 50.186748 meters # Minimum depth: 910.773567 meters looking forward 0.000000 meters along route # Maximum depth: 910.773567 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.778695; longitude = -117.501583; captureRadius = 10; duration = 50; initialDepth = 869.668895; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 111.01777 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-910.773567 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 50.186748 meters # Minimum depth: 909.668895 meters looking forward 0.000000 meters along route # Maximum depth: 909.668895 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.778607; longitude = -117.502145; captureRadius = 10; duration = 50; initialDepth = 868.450007; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 110.773567 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-909.668895 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 50.186748 meters # Minimum depth: 908.450007 meters looking forward 0.000000 meters along route # Maximum depth: 908.450007 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.778520; longitude = -117.502703; captureRadius = 10; duration = 50; initialDepth = 866.361530; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 109.668895 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-908.450007 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 50.186748 meters # Minimum depth: 906.361530 meters looking forward 0.000000 meters along route # Maximum depth: 906.361530 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.778419; longitude = -117.503343; captureRadius = 10; duration = 50; initialDepth = 866.453184; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 108.450007 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-906.361530 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 50.186748 meters # Minimum depth: 906.453184 meters looking forward 0.000000 meters along route # Maximum depth: 906.453184 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.778336; longitude = -117.503871; captureRadius = 10; duration = 50; initialDepth = 865.278703; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 106.453184 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-906.453184 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 50.186748 meters # Minimum depth: 905.278703 meters looking forward 0.000000 meters along route # Maximum depth: 905.278703 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.778244; longitude = -117.504464; captureRadius = 10; duration = 50; initialDepth = 863.687683; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 106.453184 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-905.278703 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 39 # Segment length 50.186748 meters # Minimum depth: 903.687683 meters looking forward 0.000000 meters along route # Maximum depth: 903.687683 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.778160; longitude = -117.504997; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 863.934949; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 105.278703 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-903.687683 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 50.186748 meters # Minimum depth: 903.934949 meters looking forward 0.000000 meters along route # Maximum depth: 903.934949 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.778367; longitude = -117.505264; captureRadius = 10; duration = 50; initialDepth = 862.333300; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 103.934949 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-903.934949 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 50.186748 meters # Minimum depth: 902.333300 meters looking forward 0.000000 meters along route # Maximum depth: 902.333300 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.778742; longitude = -117.505747; captureRadius = 10; duration = 50; initialDepth = 863.711979; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 103.934949 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-902.333300 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 50.186748 meters # Minimum depth: 903.711979 meters looking forward 0.000000 meters along route # Maximum depth: 903.711979 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.779113; longitude = -117.506224; captureRadius = 10; duration = 50; initialDepth = 863.318459; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 103.711979 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-903.711979 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 50.186748 meters # Minimum depth: 903.318459 meters looking forward 0.000000 meters along route # Maximum depth: 903.318459 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.779419; longitude = -117.506619; captureRadius = 10; duration = 50; initialDepth = 865.429675; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 103.711979 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-903.318459 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 50.186748 meters # Minimum depth: 905.429675 meters looking forward 0.000000 meters along route # Maximum depth: 905.429675 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.779735; longitude = -117.507025; captureRadius = 10; duration = 50; initialDepth = 865.422822; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 105.429675 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-905.429675 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 50.186748 meters # Minimum depth: 905.422822 meters looking forward 0.000000 meters along route # Maximum depth: 905.422822 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.780107; longitude = -117.507505; captureRadius = 10; duration = 50; initialDepth = 865.316272; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 105.429675 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-905.422822 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 50.186748 meters # Minimum depth: 905.316272 meters looking forward 0.000000 meters along route # Maximum depth: 905.316272 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.780502; longitude = -117.508013; captureRadius = 10; duration = 50; initialDepth = 868.693661; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 105.422822 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-905.316272 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 50.186748 meters # Minimum depth: 908.693661 meters looking forward 0.000000 meters along route # Maximum depth: 908.693661 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.780908; longitude = -117.508536; captureRadius = 10; duration = 50; initialDepth = 869.335434; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 108.693661 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-908.693661 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 50.186748 meters # Minimum depth: 909.335434 meters looking forward 0.000000 meters along route # Maximum depth: 909.335434 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.781226; longitude = -117.508945; captureRadius = 10; duration = 50; initialDepth = 870.751501; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 109.335434 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-909.335434 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 50.186748 meters # Minimum depth: 910.751501 meters looking forward 0.000000 meters along route # Maximum depth: 910.751501 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.781599; longitude = -117.509426; captureRadius = 10; duration = 50; initialDepth = 871.316043; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 110.751501 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-910.751501 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 50.186748 meters # Minimum depth: 911.316043 meters looking forward 0.000000 meters along route # Maximum depth: 911.316043 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.781991; longitude = -117.509930; captureRadius = 10; duration = 50; initialDepth = 870.387100; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 111.316043 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-911.316043 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 50.186748 meters # Minimum depth: 910.387100 meters looking forward 0.000000 meters along route # Maximum depth: 910.387100 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.782397; longitude = -117.510453; captureRadius = 10; duration = 50; initialDepth = 868.153766; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 111.316043 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-910.387100 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 50.186748 meters # Minimum depth: 908.153766 meters looking forward 0.000000 meters along route # Maximum depth: 908.153766 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.782717; longitude = -117.510866; captureRadius = 10; duration = 50; initialDepth = 870.276948; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 110.3871 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-908.153766 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 50.186748 meters # Minimum depth: 910.276948 meters looking forward 0.000000 meters along route # Maximum depth: 910.276948 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.783090; longitude = -117.511346; captureRadius = 10; duration = 50; initialDepth = 871.075119; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 110.276948 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-910.276948 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 50.186748 meters # Minimum depth: 911.075119 meters looking forward 0.000000 meters along route # Maximum depth: 911.075119 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.783479; longitude = -117.511847; captureRadius = 10; duration = 50; initialDepth = 868.868149; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 111.075119 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-911.075119 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 50.186748 meters # Minimum depth: 908.868149 meters looking forward 0.000000 meters along route # Maximum depth: 908.868149 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.783885; longitude = -117.512370; captureRadius = 10; duration = 50; initialDepth = 869.113101; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 111.075119 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-908.868149 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 50.186748 meters # Minimum depth: 909.113101 meters looking forward 0.000000 meters along route # Maximum depth: 909.113101 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.784209; longitude = -117.512787; captureRadius = 10; duration = 50; initialDepth = 868.902122; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 109.113101 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-909.113101 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 50.186748 meters # Minimum depth: 908.902122 meters looking forward 0.000000 meters along route # Maximum depth: 908.902122 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.784582; longitude = -117.513267; captureRadius = 10; duration = 50; initialDepth = 869.936493; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 109.113101 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-908.902122 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 38 # Segment length 50.186748 meters # Minimum depth: 909.936493 meters looking forward 0.000000 meters along route # Maximum depth: 909.936493 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.784894; longitude = -117.513669; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 869.894771; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 109.936493 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-909.936493 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 50.186748 meters # Minimum depth: 909.894771 meters looking forward 0.000000 meters along route # Maximum depth: 909.894771 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.785245; longitude = -117.513267; captureRadius = 10; duration = 50; initialDepth = 870.225968; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 109.936493 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-909.894771 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 50.186748 meters # Minimum depth: 910.225968 meters looking forward 0.000000 meters along route # Maximum depth: 910.225968 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.785664; longitude = -117.512787; captureRadius = 10; duration = 50; initialDepth = 871.506398; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 110.225968 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-910.225968 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 50.186748 meters # Minimum depth: 911.506398 meters looking forward 0.000000 meters along route # Maximum depth: 911.506398 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.786083; longitude = -117.512307; captureRadius = 10; duration = 50; initialDepth = 870.953252; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 111.506398 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-911.506398 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 50.186748 meters # Minimum depth: 910.953252 meters looking forward 0.000000 meters along route # Maximum depth: 910.953252 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.786457; longitude = -117.511879; captureRadius = 10; duration = 50; initialDepth = 870.564009; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 111.506398 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-910.953252 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 50.186748 meters # Minimum depth: 910.564009 meters looking forward 0.000000 meters along route # Maximum depth: 910.564009 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.786782; longitude = -117.511506; captureRadius = 10; duration = 50; initialDepth = 869.717198; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 110.953252 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-910.564009 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 50.186748 meters # Minimum depth: 909.717198 meters looking forward 0.000000 meters along route # Maximum depth: 909.717198 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.787134; longitude = -117.511103; captureRadius = 10; duration = 50; initialDepth = 868.674903; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 110.564009 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-909.717198 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 50.186748 meters # Minimum depth: 908.674903 meters looking forward 0.000000 meters along route # Maximum depth: 908.674903 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.787481; longitude = -117.510706; captureRadius = 10; duration = 50; initialDepth = 868.999287; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 109.717198 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-908.674903 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 50.186748 meters # Minimum depth: 908.999287 meters looking forward 0.000000 meters along route # Maximum depth: 908.999287 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.787810; longitude = -117.510328; captureRadius = 10; duration = 50; initialDepth = 868.593673; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 108.999287 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-908.999287 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 50.186748 meters # Minimum depth: 908.593673 meters looking forward 0.000000 meters along route # Maximum depth: 908.593673 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.788216; longitude = -117.509863; captureRadius = 10; duration = 50; initialDepth = 868.955196; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 108.999287 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-908.593673 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 50.186748 meters # Minimum depth: 908.955196 meters looking forward 0.000000 meters along route # Maximum depth: 908.955196 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.788622; longitude = -117.509398; captureRadius = 10; duration = 50; initialDepth = 869.700720; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 108.955196 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-908.955196 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 50.186748 meters # Minimum depth: 909.700720 meters looking forward 0.000000 meters along route # Maximum depth: 909.700720 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.789028; longitude = -117.508933; captureRadius = 10; duration = 50; initialDepth = 869.647138; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 109.70072 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-909.700720 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 50.186748 meters # Minimum depth: 909.647138 meters looking forward 0.000000 meters along route # Maximum depth: 909.647138 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.789437; longitude = -117.508465; captureRadius = 10; duration = 50; initialDepth = 867.730821; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 109.70072 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-909.647138 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 50.186748 meters # Minimum depth: 907.730821 meters looking forward 0.000000 meters along route # Maximum depth: 907.730821 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.789856; longitude = -117.507985; captureRadius = 10; duration = 50; initialDepth = 868.452337; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 109.647138 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-907.730821 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 50.186748 meters # Minimum depth: 908.452337 meters looking forward 0.000000 meters along route # Maximum depth: 908.452337 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.790275; longitude = -117.507505; captureRadius = 10; duration = 50; initialDepth = 866.506973; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 108.452337 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-908.452337 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 37 # Segment length 50.186748 meters # Minimum depth: 906.506973 meters looking forward 0.000000 meters along route # Maximum depth: 906.506973 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.790665; longitude = -117.507058; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 866.178158; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 108.452337 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-906.506973 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 50.186748 meters # Minimum depth: 906.178158 meters looking forward 0.000000 meters along route # Maximum depth: 906.178158 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.790886; longitude = -117.507345; captureRadius = 10; duration = 50; initialDepth = 867.813355; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 106.506973 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-906.178158 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 50.186748 meters # Minimum depth: 907.813355 meters looking forward 0.000000 meters along route # Maximum depth: 907.813355 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.791194; longitude = -117.507746; captureRadius = 10; duration = 50; initialDepth = 865.691368; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 107.813355 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-907.813355 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 50.186748 meters # Minimum depth: 905.691368 meters looking forward 0.000000 meters along route # Maximum depth: 905.691368 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.791501; longitude = -117.508145; captureRadius = 10; duration = 50; initialDepth = 864.317608; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 107.813355 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-905.691368 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 50.186748 meters # Minimum depth: 904.317608 meters looking forward 0.000000 meters along route # Maximum depth: 904.317608 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.791871; longitude = -117.508626; captureRadius = 10; duration = 50; initialDepth = 863.960371; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 105.691368 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-904.317608 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 50.186748 meters # Minimum depth: 903.960371 meters looking forward 0.000000 meters along route # Maximum depth: 903.960371 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.792277; longitude = -117.509154; captureRadius = 10; duration = 50; initialDepth = 864.544768; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 104.317608 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-903.960371 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 50.186748 meters # Minimum depth: 904.544768 meters looking forward 0.000000 meters along route # Maximum depth: 904.544768 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.792608; longitude = -117.509586; captureRadius = 10; duration = 50; initialDepth = 864.305356; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 104.544768 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-904.544768 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 50.186748 meters # Minimum depth: 904.305356 meters looking forward 0.000000 meters along route # Maximum depth: 904.305356 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.792977; longitude = -117.510066; captureRadius = 10; duration = 50; initialDepth = 866.441243; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 104.544768 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-904.305356 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 50.186748 meters # Minimum depth: 906.441243 meters looking forward 0.000000 meters along route # Maximum depth: 906.441243 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.793359; longitude = -117.510563; captureRadius = 10; duration = 50; initialDepth = 866.040939; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 106.441243 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-906.441243 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 36 # Segment length 50.186748 meters # Minimum depth: 906.040939 meters looking forward 0.000000 meters along route # Maximum depth: 906.040939 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.793671; longitude = -117.510968; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 865.684312; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 106.441243 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-906.040939 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 50.186748 meters # Minimum depth: 905.684312 meters looking forward 0.000000 meters along route # Maximum depth: 905.684312 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.793571; longitude = -117.511186; captureRadius = 10; duration = 50; initialDepth = 864.298029; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 106.040939 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-905.684312 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 50.186748 meters # Minimum depth: 904.298029 meters looking forward 0.000000 meters along route # Maximum depth: 904.298029 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.793352; longitude = -117.511666; captureRadius = 10; duration = 50; initialDepth = 865.715390; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 105.684312 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-904.298029 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 50.186748 meters # Minimum depth: 905.715390 meters looking forward 0.000000 meters along route # Maximum depth: 905.715390 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.793132; longitude = -117.512147; captureRadius = 10; duration = 50; initialDepth = 865.150911; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 105.71539 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-905.715390 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 50.186748 meters # Minimum depth: 905.150911 meters looking forward 0.000000 meters along route # Maximum depth: 905.150911 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.792912; longitude = -117.512627; captureRadius = 10; duration = 50; initialDepth = 866.783728; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 105.71539 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-905.150911 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 50.186748 meters # Minimum depth: 906.783728 meters looking forward 0.000000 meters along route # Maximum depth: 906.783728 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.792693; longitude = -117.513107; captureRadius = 10; duration = 50; initialDepth = 867.284250; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 106.783728 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-906.783728 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 50.186748 meters # Minimum depth: 907.284250 meters looking forward 0.000000 meters along route # Maximum depth: 907.284250 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.792473; longitude = -117.513587; captureRadius = 10; duration = 50; initialDepth = 869.768916; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 107.28425 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-907.284250 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 50.186748 meters # Minimum depth: 909.768916 meters looking forward 0.000000 meters along route # Maximum depth: 909.768916 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.792254; longitude = -117.514067; captureRadius = 10; duration = 50; initialDepth = 870.146962; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 109.768916 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-909.768916 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 50.186748 meters # Minimum depth: 910.146962 meters looking forward 0.000000 meters along route # Maximum depth: 910.146962 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.792034; longitude = -117.514547; captureRadius = 10; duration = 50; initialDepth = 871.622276; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 110.146962 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-910.146962 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 50.186748 meters # Minimum depth: 911.622276 meters looking forward 0.000000 meters along route # Maximum depth: 911.622276 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.791815; longitude = -117.515028; captureRadius = 10; duration = 50; initialDepth = 871.901309; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 111.622276 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-911.622276 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 50.186748 meters # Minimum depth: 911.901309 meters looking forward 0.000000 meters along route # Maximum depth: 911.901309 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.791595; longitude = -117.515508; captureRadius = 10; duration = 50; initialDepth = 872.403432; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 111.901309 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-911.901309 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 50.186748 meters # Minimum depth: 912.403432 meters looking forward 0.000000 meters along route # Maximum depth: 912.403432 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.791375; longitude = -117.515988; captureRadius = 10; duration = 50; initialDepth = 872.454391; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 112.403432 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-912.403432 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 50.186748 meters # Minimum depth: 912.454391 meters looking forward 0.000000 meters along route # Maximum depth: 912.454391 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.791156; longitude = -117.516468; captureRadius = 10; duration = 50; initialDepth = 872.683810; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 112.454391 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-912.454391 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 50.186748 meters # Minimum depth: 912.683810 meters looking forward 0.000000 meters along route # Maximum depth: 912.683810 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.790936; longitude = -117.516948; captureRadius = 10; duration = 50; initialDepth = 873.962310; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 112.68381 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-912.683810 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 50.186748 meters # Minimum depth: 913.962310 meters looking forward 0.000000 meters along route # Maximum depth: 913.962310 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.790717; longitude = -117.517428; captureRadius = 10; duration = 50; initialDepth = 873.947525; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 113.96231 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-913.962310 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; 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 35 # Segment length 50.186748 meters # Minimum depth: 913.947525 meters looking forward 0.000000 meters along route # Maximum depth: 913.947525 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.790485; longitude = -117.517935; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 875.436942; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 113.96231 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-913.947525 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 50.186748 meters # Minimum depth: 915.436942 meters looking forward 0.000000 meters along route # Maximum depth: 915.436942 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.790193; longitude = -117.517588; captureRadius = 10; duration = 50; initialDepth = 875.485106; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 115.436942 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-915.436942 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 50.186748 meters # Minimum depth: 915.485106 meters looking forward 0.000000 meters along route # Maximum depth: 915.485106 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.789840; longitude = -117.517171; captureRadius = 10; duration = 50; initialDepth = 873.929710; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 115.485106 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-915.485106 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 50.186748 meters # Minimum depth: 913.929710 meters looking forward 0.000000 meters along route # Maximum depth: 913.929710 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.789518; longitude = -117.516788; captureRadius = 10; duration = 50; initialDepth = 875.206976; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 115.485106 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-913.929710 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 50.186748 meters # Minimum depth: 915.206976 meters looking forward 0.000000 meters along route # Maximum depth: 915.206976 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.789164; longitude = -117.516369; captureRadius = 10; duration = 50; initialDepth = 874.648099; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 115.206976 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-915.206976 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 50.186748 meters # Minimum depth: 914.648099 meters looking forward 0.000000 meters along route # Maximum depth: 914.648099 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.788843; longitude = -117.515988; captureRadius = 10; duration = 50; initialDepth = 874.743500; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 115.206976 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-914.648099 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 50.186748 meters # Minimum depth: 914.743500 meters looking forward 0.000000 meters along route # Maximum depth: 914.743500 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.788487; longitude = -117.515566; captureRadius = 10; duration = 50; initialDepth = 874.553118; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 114.7435 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-914.743500 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 50.186748 meters # Minimum depth: 914.553118 meters looking forward 0.000000 meters along route # Maximum depth: 914.553118 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.788167; longitude = -117.515188; captureRadius = 10; duration = 50; initialDepth = 876.464256; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 114.7435 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-914.553118 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 50.186748 meters # Minimum depth: 916.464256 meters looking forward 0.000000 meters along route # Maximum depth: 916.464256 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.787762; longitude = -117.514707; captureRadius = 10; duration = 50; initialDepth = 873.094096; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 116.464256 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-916.464256 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 50.186748 meters # Minimum depth: 913.094096 meters looking forward 0.000000 meters along route # Maximum depth: 913.094096 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.787357; longitude = -117.514227; captureRadius = 10; duration = 50; initialDepth = 871.732466; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 116.464256 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-913.094096 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 50.186748 meters # Minimum depth: 911.732466 meters looking forward 0.000000 meters along route # Maximum depth: 911.732466 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.786952; longitude = -117.513747; captureRadius = 10; duration = 50; initialDepth = 869.151702; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 113.094096 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-911.732466 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 50.186748 meters # Minimum depth: 909.151702 meters looking forward 0.000000 meters along route # Maximum depth: 909.151702 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.786547; longitude = -117.513267; captureRadius = 10; duration = 50; initialDepth = 870.413907; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 111.732466 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-909.151702 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 50.186748 meters # Minimum depth: 910.413907 meters looking forward 0.000000 meters along route # Maximum depth: 910.413907 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.786142; longitude = -117.512787; captureRadius = 10; duration = 50; initialDepth = 872.029490; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 110.413907 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-910.413907 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 50.186748 meters # Minimum depth: 912.029490 meters looking forward 0.000000 meters along route # Maximum depth: 912.029490 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.785737; longitude = -117.512307; captureRadius = 10; duration = 50; initialDepth = 872.067455; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 112.02949 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-912.029490 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 50.186748 meters # Minimum depth: 912.067455 meters looking forward 0.000000 meters along route # Maximum depth: 912.067455 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.785332; longitude = -117.511826; captureRadius = 10; duration = 50; initialDepth = 874.292407; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 112.067455 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-912.067455 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 50.186748 meters # Minimum depth: 914.292407 meters looking forward 0.000000 meters along route # Maximum depth: 914.292407 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.784927; longitude = -117.511346; captureRadius = 10; duration = 50; initialDepth = 873.768612; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 114.292407 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-914.292407 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 50.186748 meters # Minimum depth: 913.768612 meters looking forward 0.000000 meters along route # Maximum depth: 913.768612 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.784522; longitude = -117.510866; captureRadius = 10; duration = 50; initialDepth = 872.351894; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 114.292407 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-913.768612 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 50.186748 meters # Minimum depth: 912.351894 meters looking forward 0.000000 meters along route # Maximum depth: 912.351894 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.784117; longitude = -117.510386; captureRadius = 10; duration = 50; initialDepth = 872.118288; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 113.768612 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-912.351894 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 50.186748 meters # Minimum depth: 912.118288 meters looking forward 0.000000 meters along route # Maximum depth: 912.118288 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.783712; longitude = -117.509906; captureRadius = 10; duration = 50; initialDepth = 871.222811; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 112.351894 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-912.118288 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 50.186748 meters # Minimum depth: 911.222811 meters looking forward 0.000000 meters along route # Maximum depth: 911.222811 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.783307; longitude = -117.509426; captureRadius = 10; duration = 50; initialDepth = 871.075897; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 112.118288 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-911.222811 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 50.186748 meters # Minimum depth: 911.075897 meters looking forward 0.000000 meters along route # Maximum depth: 911.075897 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.782902; longitude = -117.508945; captureRadius = 10; duration = 50; initialDepth = 867.744028; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 111.222811 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-911.075897 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 50.186748 meters # Minimum depth: 907.744028 meters looking forward 0.000000 meters along route # Maximum depth: 907.744028 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.782497; longitude = -117.508465; captureRadius = 10; duration = 50; initialDepth = 868.006663; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 111.075897 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-907.744028 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 50.186748 meters # Minimum depth: 908.006663 meters looking forward 0.000000 meters along route # Maximum depth: 908.006663 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.782092; longitude = -117.507985; captureRadius = 10; duration = 50; initialDepth = 866.554435; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 108.006663 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-908.006663 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 50.186748 meters # Minimum depth: 906.554435 meters looking forward 0.000000 meters along route # Maximum depth: 906.554435 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.781687; longitude = -117.507505; captureRadius = 10; duration = 50; initialDepth = 865.517909; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 108.006663 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-906.554435 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 50.186748 meters # Minimum depth: 905.517909 meters looking forward 0.000000 meters along route # Maximum depth: 905.517909 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.781282; longitude = -117.507025; captureRadius = 10; duration = 50; initialDepth = 863.395732; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 106.554435 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-905.517909 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 50.186748 meters # Minimum depth: 903.395732 meters looking forward 0.000000 meters along route # Maximum depth: 903.395732 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.780877; longitude = -117.506545; captureRadius = 10; duration = 50; initialDepth = 864.808047; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 105.517909 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-903.395732 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 50.186748 meters # Minimum depth: 904.808047 meters looking forward 0.000000 meters along route # Maximum depth: 904.808047 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.780472; longitude = -117.506064; captureRadius = 10; duration = 50; initialDepth = 866.092995; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 104.808047 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-904.808047 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 50.186748 meters # Minimum depth: 906.092995 meters looking forward 0.000000 meters along route # Maximum depth: 906.092995 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.780067; longitude = -117.505584; captureRadius = 10; duration = 50; initialDepth = 865.275343; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 106.092995 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-906.092995 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 50.186748 meters # Minimum depth: 905.275343 meters looking forward 0.000000 meters along route # Maximum depth: 905.275343 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.779662; longitude = -117.505104; captureRadius = 10; duration = 50; initialDepth = 866.346627; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 106.092995 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-905.275343 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 50.186748 meters # Minimum depth: 906.346627 meters looking forward 0.000000 meters along route # Maximum depth: 906.346627 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.779257; longitude = -117.504624; captureRadius = 10; duration = 50; initialDepth = 864.761852; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 106.346627 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-906.346627 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 50.186748 meters # Minimum depth: 904.761852 meters looking forward 0.000000 meters along route # Maximum depth: 904.761852 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.778852; longitude = -117.504144; captureRadius = 10; duration = 50; initialDepth = 866.362228; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 106.346627 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-904.761852 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 50.186748 meters # Minimum depth: 906.362228 meters looking forward 0.000000 meters along route # Maximum depth: 906.362228 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.778447; longitude = -117.503664; captureRadius = 10; duration = 50; initialDepth = 866.276064; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 106.362228 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-906.362228 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 50.186748 meters # Minimum depth: 906.276064 meters looking forward 0.000000 meters along route # Maximum depth: 906.276064 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.778042; longitude = -117.503183; captureRadius = 10; duration = 50; initialDepth = 866.592856; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 106.362228 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-906.276064 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 50.186748 meters # Minimum depth: 906.592856 meters looking forward 0.000000 meters along route # Maximum depth: 906.592856 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.777637; longitude = -117.502703; captureRadius = 10; duration = 50; initialDepth = 866.751325; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 106.592856 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-906.592856 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 50.186748 meters # Minimum depth: 906.751325 meters looking forward 0.000000 meters along route # Maximum depth: 906.751325 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.777231; longitude = -117.502223; captureRadius = 10; duration = 50; initialDepth = 867.238874; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 106.751325 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-906.751325 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 50.186748 meters # Minimum depth: 907.238874 meters looking forward 0.000000 meters along route # Maximum depth: 907.238874 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.776826; longitude = -117.501743; captureRadius = 10; duration = 50; initialDepth = 866.146162; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 107.238874 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-907.238874 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 50.186748 meters # Minimum depth: 906.146162 meters looking forward 0.000000 meters along route # Maximum depth: 906.146162 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.776421; longitude = -117.501263; captureRadius = 10; duration = 50; initialDepth = 859.568396; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 107.238874 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-906.146162 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 50.186748 meters # Minimum depth: 899.568396 meters looking forward 0.000000 meters along route # Maximum depth: 899.568396 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.776016; longitude = -117.500783; captureRadius = 10; duration = 50; initialDepth = 853.053991; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 106.146162 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-899.568396 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 50.186748 meters # Minimum depth: 893.053991 meters looking forward 0.000000 meters along route # Maximum depth: 893.053991 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.775611; longitude = -117.500302; captureRadius = 10; duration = 50; initialDepth = 841.138425; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 99.568396 # Actual altitude: 99.568396 # Commanded vehicle depth:800 # Seafloor depth:-893.053991 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 398.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.83; MB_Bottom_Detect_Filter_Max_Range = 398.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 298.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 50.186748 meters # Minimum depth: 881.138425 meters looking forward 0.000000 meters along route # Maximum depth: 881.138425 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.775206; longitude = -117.499822; captureRadius = 10; duration = 50; initialDepth = 832.389178; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 93.053991 # Actual altitude: 93.053991 # Commanded vehicle depth:800 # Seafloor depth:-881.138425 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 372.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.22; MB_Bottom_Detect_Filter_Max_Range = 372.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 279.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 50.186748 meters # Minimum depth: 872.389178 meters looking forward 0.000000 meters along route # Maximum depth: 872.389178 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.774801; longitude = -117.499342; captureRadius = 10; duration = 50; initialDepth = 826.586277; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.138425 # Actual altitude: 81.138425 # Commanded vehicle depth:800 # Seafloor depth:-872.389178 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 324.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.46; MB_Bottom_Detect_Filter_Max_Range = 324.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 243.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 50.186748 meters # Minimum depth: 866.586277 meters looking forward 0.000000 meters along route # Maximum depth: 866.586277 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.774396; longitude = -117.498862; captureRadius = 10; duration = 50; initialDepth = 824.867439; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.389178 # Actual altitude: 72.389178 # Commanded vehicle depth:800 # Seafloor depth:-866.586277 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 289.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.96; MB_Bottom_Detect_Filter_Max_Range = 289.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 50.186748 meters # Minimum depth: 864.867439 meters looking forward 0.000000 meters along route # Maximum depth: 864.867439 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.773991; longitude = -117.498382; captureRadius = 10; duration = 50; initialDepth = 824.573860; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.586277 # Actual altitude: 66.586277 # Commanded vehicle depth:800 # Seafloor depth:-864.867439 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 266.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.63; MB_Bottom_Detect_Filter_Max_Range = 266.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 199.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 50.186748 meters # Minimum depth: 864.573860 meters looking forward 0.000000 meters along route # Maximum depth: 864.573860 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.773586; longitude = -117.497902; captureRadius = 10; duration = 50; initialDepth = 824.290460; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.867439 # Actual altitude: 64.867439 # Commanded vehicle depth:800 # Seafloor depth:-864.573860 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 259.47; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.95; MB_Bottom_Detect_Filter_Max_Range = 259.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 194.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 50.186748 meters # Minimum depth: 864.290460 meters looking forward 0.000000 meters along route # Maximum depth: 864.290460 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.773181; longitude = -117.497421; captureRadius = 10; duration = 50; initialDepth = 823.750271; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.57386 # Actual altitude: 64.57386 # Commanded vehicle depth:800 # Seafloor depth:-864.290460 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 258.30; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.83; MB_Bottom_Detect_Filter_Max_Range = 258.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 193.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 50.186748 meters # Minimum depth: 863.750271 meters looking forward 0.000000 meters along route # Maximum depth: 863.750271 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.772776; longitude = -117.496941; captureRadius = 10; duration = 50; initialDepth = 820.174750; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.2904600000001 # Actual altitude: 64.2904600000001 # Commanded vehicle depth:800 # Seafloor depth:-863.750271 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 257.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.72; MB_Bottom_Detect_Filter_Max_Range = 257.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 192.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 50.186748 meters # Minimum depth: 860.174750 meters looking forward 0.000000 meters along route # Maximum depth: 860.174750 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.772371; longitude = -117.496461; captureRadius = 10; duration = 50; initialDepth = 816.360158; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.750271 # Actual altitude: 63.750271 # Commanded vehicle depth:800 # Seafloor depth:-860.174750 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 255.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.50; MB_Bottom_Detect_Filter_Max_Range = 255.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 191.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 50.186748 meters # Minimum depth: 856.360158 meters looking forward 0.000000 meters along route # Maximum depth: 856.360158 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.771966; longitude = -117.495981; captureRadius = 10; duration = 50; initialDepth = 812.417358; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.17475 # Actual altitude: 60.17475 # Commanded vehicle depth:800 # Seafloor depth:-856.360158 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.07; MB_Bottom_Detect_Filter_Max_Range = 240.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 180.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 50.186748 meters # Minimum depth: 852.417358 meters looking forward 0.000000 meters along route # Maximum depth: 852.417358 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.771561; longitude = -117.495501; captureRadius = 10; duration = 50; initialDepth = 809.959331; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.360158 # Actual altitude: 56.360158 # Commanded vehicle depth:800 # Seafloor depth:-852.417358 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 225.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.54; MB_Bottom_Detect_Filter_Max_Range = 225.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 169.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 50.186748 meters # Minimum depth: 849.959331 meters looking forward 0.000000 meters along route # Maximum depth: 849.959331 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.771156; longitude = -117.495021; captureRadius = 10; duration = 50; initialDepth = 810.153087; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.417358 # Actual altitude: 52.417358 # Commanded vehicle depth:800 # Seafloor depth:-849.959331 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.97; MB_Bottom_Detect_Filter_Max_Range = 209.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 50.186748 meters # Minimum depth: 850.153087 meters looking forward 0.000000 meters along route # Maximum depth: 850.153087 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.770751; longitude = -117.494540; captureRadius = 10; duration = 50; initialDepth = 811.780563; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.153087 # Actual altitude: 50.153087 # Commanded vehicle depth:800 # Seafloor depth:-850.153087 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.61; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.06; MB_Bottom_Detect_Filter_Max_Range = 200.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 50.186748 meters # Minimum depth: 851.780563 meters looking forward 0.000000 meters along route # Maximum depth: 851.780563 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.770346; longitude = -117.494060; captureRadius = 10; duration = 50; initialDepth = 812.553516; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.780563 # Actual altitude: 51.780563 # Commanded vehicle depth:800 # Seafloor depth:-851.780563 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.71; MB_Bottom_Detect_Filter_Max_Range = 207.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 50.186748 meters # Minimum depth: 852.553516 meters looking forward 0.000000 meters along route # Maximum depth: 852.553516 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.769941; longitude = -117.493580; captureRadius = 10; duration = 50; initialDepth = 813.110180; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.5535159999999 # Actual altitude: 52.5535159999999 # Commanded vehicle depth:800 # Seafloor depth:-852.553516 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.21; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.02; MB_Bottom_Detect_Filter_Max_Range = 210.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 50.186748 meters # Minimum depth: 853.110180 meters looking forward 0.000000 meters along route # Maximum depth: 853.110180 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.769536; longitude = -117.493100; captureRadius = 10; duration = 50; initialDepth = 814.162841; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.11018 # Actual altitude: 53.11018 # Commanded vehicle depth:800 # Seafloor depth:-853.110180 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.24; MB_Bottom_Detect_Filter_Max_Range = 212.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 50.186748 meters # Minimum depth: 854.162841 meters looking forward 0.000000 meters along route # Maximum depth: 854.162841 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.769131; longitude = -117.492620; captureRadius = 10; duration = 50; initialDepth = 810.876598; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.162841 # Actual altitude: 54.162841 # Commanded vehicle depth:800 # Seafloor depth:-854.162841 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.67; MB_Bottom_Detect_Filter_Max_Range = 216.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 50.186748 meters # Minimum depth: 850.876598 meters looking forward 0.000000 meters along route # Maximum depth: 850.876598 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.768726; longitude = -117.492139; captureRadius = 10; duration = 50; initialDepth = 810.037611; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.162841 # Actual altitude: 54.162841 # Commanded vehicle depth:800 # Seafloor depth:-850.876598 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.67; MB_Bottom_Detect_Filter_Max_Range = 216.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 50.186748 meters # Minimum depth: 850.037611 meters looking forward 0.000000 meters along route # Maximum depth: 850.037611 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.768321; longitude = -117.491659; captureRadius = 10; duration = 50; initialDepth = 805.453968; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.8765979999999 # Actual altitude: 50.8765979999999 # Commanded vehicle depth:800 # Seafloor depth:-850.037611 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.35; MB_Bottom_Detect_Filter_Max_Range = 203.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 50.186748 meters # Minimum depth: 845.453968 meters looking forward 0.000000 meters along route # Maximum depth: 845.453968 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.767915; longitude = -117.491179; captureRadius = 10; duration = 50; initialDepth = 802.355393; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.037611 # Actual altitude: 50.037611 # Commanded vehicle depth:800 # Seafloor depth:-845.453968 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.02; MB_Bottom_Detect_Filter_Max_Range = 200.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 50.186748 meters # Minimum depth: 842.355393 meters looking forward 0.000000 meters along route # Maximum depth: 842.355393 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.767509; longitude = -117.490697; captureRadius = 10; duration = 50; initialDepth = 802.931473; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.453968 # Actual altitude: 50 # Commanded vehicle depth:800 # Seafloor depth:-842.355393 # 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 = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 50.186748 meters # Minimum depth: 842.931473 meters looking forward 0.000000 meters along route # Maximum depth: 842.931473 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.767158; longitude = -117.490281; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 799.822040; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.931473 # Actual altitude: 50 # Commanded vehicle depth:800 # Seafloor depth:-842.931473 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 839.822040 meters looking forward 0.000000 meters along route # Maximum depth: 839.822040 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 799.822040 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.766968; longitude = -117.490217; captureRadius = 10; duration = 50; initialDepth = 803.859259; finalDepth = 799.822040; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.931473 # Actual altitude: 50 # Commanded vehicle depth:799.82204 # Seafloor depth:-839.822040 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 843.859259 meters looking forward 0.000000 meters along route # Maximum depth: 843.859259 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.766496; longitude = -117.490059; captureRadius = 10; duration = 50; initialDepth = 806.565124; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.859259 # Actual altitude: 50 # Commanded vehicle depth:800 # Seafloor depth:-843.859259 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 846.565124 meters looking forward 0.000000 meters along route # Maximum depth: 846.565124 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.766018; longitude = -117.489899; captureRadius = 10; duration = 50; initialDepth = 807.823179; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.565124 # Actual altitude: 50 # Commanded vehicle depth:800 # Seafloor depth:-846.565124 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 847.823179 meters looking forward 0.000000 meters along route # Maximum depth: 847.823179 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.765541; longitude = -117.489739; captureRadius = 10; duration = 50; initialDepth = 808.692596; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.823179 # Actual altitude: 50 # Commanded vehicle depth:800 # Seafloor depth:-847.823179 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 848.692596 meters looking forward 0.000000 meters along route # Maximum depth: 848.692596 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.765064; longitude = -117.489579; captureRadius = 10; duration = 50; initialDepth = 807.542615; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.692596 # Actual altitude: 50 # Commanded vehicle depth:800 # Seafloor depth:-848.692596 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 847.542615 meters looking forward 0.000000 meters along route # Maximum depth: 847.542615 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.764587; longitude = -117.489419; captureRadius = 10; duration = 50; initialDepth = 808.606138; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.692596 # Actual altitude: 50 # Commanded vehicle depth:800 # Seafloor depth:-847.542615 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 848.606138 meters looking forward 0.000000 meters along route # Maximum depth: 848.606138 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.764110; longitude = -117.489258; captureRadius = 10; duration = 50; initialDepth = 807.829089; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.606138 # Actual altitude: 50 # Commanded vehicle depth:800 # Seafloor depth:-848.606138 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 847.829089 meters looking forward 0.000000 meters along route # Maximum depth: 847.829089 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.763633; longitude = -117.489098; captureRadius = 10; duration = 50; initialDepth = 806.149422; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.606138 # Actual altitude: 50 # Commanded vehicle depth:800 # Seafloor depth:-847.829089 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 846.149422 meters looking forward 0.000000 meters along route # Maximum depth: 846.149422 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.763156; longitude = -117.488938; captureRadius = 10; duration = 50; initialDepth = 804.959135; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.829089 # Actual altitude: 50 # Commanded vehicle depth:800 # Seafloor depth:-846.149422 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 844.959135 meters looking forward 0.000000 meters along route # Maximum depth: 844.959135 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.762637; longitude = -117.488764; captureRadius = 10; duration = 50; initialDepth = 801.669061; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.149422 # Actual altitude: 50 # Commanded vehicle depth:800 # Seafloor depth:-844.959135 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 841.669061 meters looking forward 0.000000 meters along route # Maximum depth: 841.669061 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.762201; longitude = -117.488618; captureRadius = 10; duration = 50; initialDepth = 796.789296; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.9591349999999 # Actual altitude: 50 # Commanded vehicle depth:800 # Seafloor depth:-841.669061 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 836.789296 meters looking forward 0.000000 meters along route # Maximum depth: 836.789296 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 796.789296 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.761689; longitude = -117.488447; captureRadius = 10; duration = 50; initialDepth = 792.454705; finalDepth = 796.789296; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.6690610000001 # Actual altitude: 50 # Commanded vehicle depth:796.789296 # Seafloor depth:-836.789296 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 832.454705 meters looking forward 0.000000 meters along route # Maximum depth: 832.454705 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 792.454705 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.761247; longitude = -117.488298; captureRadius = 10; duration = 50; initialDepth = 787.935615; finalDepth = 792.454705; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:792.454705 # Seafloor depth:-832.454705 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 827.935615 meters looking forward 0.000000 meters along route # Maximum depth: 827.935615 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 787.935615 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.760742; longitude = -117.488129; captureRadius = 10; duration = 50; initialDepth = 782.948233; finalDepth = 787.935615; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:787.935615 # Seafloor depth:-827.935615 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 822.948233 meters looking forward 0.000000 meters along route # Maximum depth: 822.948233 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 782.948233 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.760293; longitude = -117.487978; captureRadius = 10; duration = 50; initialDepth = 781.708296; finalDepth = 782.948233; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:782.948233 # Seafloor depth:-822.948233 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 821.708296 meters looking forward 0.000000 meters along route # Maximum depth: 821.708296 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 781.708296 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.759795; longitude = -117.487811; captureRadius = 10; duration = 50; initialDepth = 782.800929; finalDepth = 781.708296; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:781.708296 # Seafloor depth:-821.708296 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 822.800929 meters looking forward 0.000000 meters along route # Maximum depth: 822.800929 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 782.800929 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.759338; longitude = -117.487658; captureRadius = 10; duration = 50; initialDepth = 785.024443; finalDepth = 782.800929; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:782.800929 # Seafloor depth:-822.800929 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 825.024443 meters looking forward 0.000000 meters along route # Maximum depth: 825.024443 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 785.024443 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.758847; longitude = -117.487493; captureRadius = 10; duration = 50; initialDepth = 786.454010; finalDepth = 785.024443; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:785.024443 # Seafloor depth:-825.024443 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 826.454010 meters looking forward 0.000000 meters along route # Maximum depth: 826.454010 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 786.454010 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.758384; longitude = -117.487338; captureRadius = 10; duration = 50; initialDepth = 787.020911; finalDepth = 786.454010; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:786.45401 # Seafloor depth:-826.454010 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 827.020911 meters looking forward 0.000000 meters along route # Maximum depth: 827.020911 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 787.020911 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.757900; longitude = -117.487175; captureRadius = 10; duration = 50; initialDepth = 788.739593; finalDepth = 787.020911; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:787.020911 # Seafloor depth:-827.020911 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 828.739593 meters looking forward 0.000000 meters along route # Maximum depth: 828.739593 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 788.739593 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.757430; longitude = -117.487018; captureRadius = 10; duration = 50; initialDepth = 790.776823; finalDepth = 788.739593; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:788.739593 # Seafloor depth:-828.739593 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 830.776823 meters looking forward 0.000000 meters along route # Maximum depth: 830.776823 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 790.776823 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.756952; longitude = -117.486858; captureRadius = 10; duration = 50; initialDepth = 793.001073; finalDepth = 790.776823; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:790.776823 # Seafloor depth:-830.776823 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 833.001073 meters looking forward 0.000000 meters along route # Maximum depth: 833.001073 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 793.001073 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.756411; longitude = -117.486676; captureRadius = 10; duration = 50; initialDepth = 795.745336; finalDepth = 793.001073; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:793.001073 # Seafloor depth:-833.001073 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 835.745336 meters looking forward 0.000000 meters along route # Maximum depth: 835.745336 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 795.745336 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.755870; longitude = -117.486494; captureRadius = 10; duration = 50; initialDepth = 797.877072; finalDepth = 795.745336; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:795.745336 # Seafloor depth:-835.745336 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 837.877072 meters looking forward 0.000000 meters along route # Maximum depth: 837.877072 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 797.877072 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.755328; longitude = -117.486313; captureRadius = 10; duration = 50; initialDepth = 799.760692; finalDepth = 797.877072; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:797.877072 # Seafloor depth:-837.877072 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 839.760692 meters looking forward 0.000000 meters along route # Maximum depth: 839.760692 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 799.760692 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.754787; longitude = -117.486131; captureRadius = 10; duration = 50; initialDepth = 800.261505; finalDepth = 799.760692; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:799.760692 # Seafloor depth:-839.760692 # 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 = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 50.186748 meters # Minimum depth: 840.261505 meters looking forward 0.000000 meters along route # Maximum depth: 840.261505 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.754232; longitude = -117.485945; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 808.273609; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.2615050000001 # Actual altitude: 50 # Commanded vehicle depth:800 # Seafloor depth:-840.261505 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 848.273609 meters looking forward 0.000000 meters along route # Maximum depth: 848.273609 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.754110; longitude = -117.485381; captureRadius = 10; duration = 50; initialDepth = 808.369917; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.273609 # Actual altitude: 50 # Commanded vehicle depth:800 # Seafloor depth:-848.273609 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 848.369917 meters looking forward 0.000000 meters along route # Maximum depth: 848.369917 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.753975; longitude = -117.484754; captureRadius = 10; duration = 50; initialDepth = 808.272597; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.369917 # Actual altitude: 50 # Commanded vehicle depth:800 # Seafloor depth:-848.369917 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 848.272597 meters looking forward 0.000000 meters along route # Maximum depth: 848.272597 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.753840; longitude = -117.484126; captureRadius = 10; duration = 50; initialDepth = 806.963377; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.369917 # Actual altitude: 50 # Commanded vehicle depth:800 # Seafloor depth:-848.272597 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 846.963377 meters looking forward 0.000000 meters along route # Maximum depth: 846.963377 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.753704; longitude = -117.483496; captureRadius = 10; duration = 50; initialDepth = 806.069914; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.272597 # Actual altitude: 50 # Commanded vehicle depth:800 # Seafloor depth:-846.963377 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 846.069914 meters looking forward 0.000000 meters along route # Maximum depth: 846.069914 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.753566; longitude = -117.482856; captureRadius = 10; duration = 50; initialDepth = 801.923534; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.963377 # Actual altitude: 50 # Commanded vehicle depth:800 # Seafloor depth:-846.069914 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 841.923534 meters looking forward 0.000000 meters along route # Maximum depth: 841.923534 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.753428; longitude = -117.482216; captureRadius = 10; duration = 50; initialDepth = 802.136315; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.069914 # Actual altitude: 50 # Commanded vehicle depth:800 # Seafloor depth:-841.923534 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 842.136315 meters looking forward 0.000000 meters along route # Maximum depth: 842.136315 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.753289; longitude = -117.481576; captureRadius = 10; duration = 50; initialDepth = 805.370728; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.136315 # Actual altitude: 50 # Commanded vehicle depth:800 # Seafloor depth:-842.136315 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 845.370728 meters looking forward 0.000000 meters along route # Maximum depth: 845.370728 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.753151; longitude = -117.480936; captureRadius = 10; duration = 50; initialDepth = 805.806110; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.370728 # Actual altitude: 50 # Commanded vehicle depth:800 # Seafloor depth:-845.370728 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 845.806110 meters looking forward 0.000000 meters along route # Maximum depth: 845.806110 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.753013; longitude = -117.480295; captureRadius = 10; duration = 50; initialDepth = 802.576719; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.80611 # Actual altitude: 50 # Commanded vehicle depth:800 # Seafloor depth:-845.806110 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 842.576719 meters looking forward 0.000000 meters along route # Maximum depth: 842.576719 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.752875; longitude = -117.479655; captureRadius = 10; duration = 50; initialDepth = 787.675171; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.80611 # Actual altitude: 50 # Commanded vehicle depth:800 # Seafloor depth:-842.576719 # 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 = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 50.186748 meters # Minimum depth: 827.675171 meters looking forward 0.000000 meters along route # Maximum depth: 827.675171 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 787.675171 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.752729; longitude = -117.478978; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 790.516645; finalDepth = 787.675171; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.576719 # Actual altitude: 50 # Commanded vehicle depth:787.675171 # Seafloor depth:-827.675171 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 830.516645 meters looking forward 0.000000 meters along route # Maximum depth: 830.516645 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 790.516645 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.752892; longitude = -117.479028; captureRadius = 10; duration = 50; initialDepth = 797.761936; finalDepth = 790.516645; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:790.516645 # Seafloor depth:-830.516645 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 837.761936 meters looking forward 0.000000 meters along route # Maximum depth: 837.761936 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 797.761936 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.753434; longitude = -117.479195; captureRadius = 10; duration = 50; initialDepth = 796.719333; finalDepth = 797.761936; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:797.761936 # Seafloor depth:-837.761936 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 836.719333 meters looking forward 0.000000 meters along route # Maximum depth: 836.719333 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 796.719333 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.753890; longitude = -117.479335; captureRadius = 10; duration = 50; initialDepth = 795.564816; finalDepth = 796.719333; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:796.719333 # Seafloor depth:-836.719333 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 835.564816 meters looking forward 0.000000 meters along route # Maximum depth: 835.564816 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 795.564816 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.754411; longitude = -117.479495; captureRadius = 10; duration = 50; initialDepth = 795.879680; finalDepth = 795.564816; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:795.564816 # Seafloor depth:-835.564816 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 835.879680 meters looking forward 0.000000 meters along route # Maximum depth: 835.879680 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 795.879680 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.754931; longitude = -117.479655; captureRadius = 10; duration = 50; initialDepth = 793.458188; finalDepth = 795.879680; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:795.87968 # Seafloor depth:-835.879680 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 833.458188 meters looking forward 0.000000 meters along route # Maximum depth: 833.458188 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 793.458188 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.755464; longitude = -117.479819; captureRadius = 10; duration = 50; initialDepth = 790.045897; finalDepth = 793.458188; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:793.458188 # Seafloor depth:-833.458188 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 830.045897 meters looking forward 0.000000 meters along route # Maximum depth: 830.045897 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 790.045897 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.756005; longitude = -117.479985; captureRadius = 10; duration = 50; initialDepth = 782.114202; finalDepth = 790.045897; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:790.045897 # Seafloor depth:-830.045897 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 822.114202 meters looking forward 0.000000 meters along route # Maximum depth: 822.114202 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 782.114202 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.756546; longitude = -117.480152; captureRadius = 10; duration = 50; initialDepth = 775.033714; finalDepth = 782.114202; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:782.114202 # Seafloor depth:-822.114202 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 815.033714 meters looking forward 0.000000 meters along route # Maximum depth: 815.033714 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 775.033714 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.757088; longitude = -117.480318; captureRadius = 10; duration = 50; initialDepth = 772.631782; finalDepth = 775.033714; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:775.033714 # Seafloor depth:-815.033714 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 812.631782 meters looking forward 0.000000 meters along route # Maximum depth: 812.631782 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 772.631782 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.757534; longitude = -117.480455; captureRadius = 10; duration = 50; initialDepth = 770.740144; finalDepth = 772.631782; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:772.631782 # Seafloor depth:-812.631782 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 810.740144 meters looking forward 0.000000 meters along route # Maximum depth: 810.740144 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 770.740144 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.758055; longitude = -117.480615; captureRadius = 10; duration = 50; initialDepth = 768.443494; finalDepth = 770.740144; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:770.740144 # Seafloor depth:-810.740144 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 808.443494 meters looking forward 0.000000 meters along route # Maximum depth: 808.443494 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 768.443494 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.758577; longitude = -117.480776; captureRadius = 10; duration = 50; initialDepth = 765.848060; finalDepth = 768.443494; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:768.443494 # Seafloor depth:-808.443494 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 805.848060 meters looking forward 0.000000 meters along route # Maximum depth: 805.848060 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 765.848060 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.759118; longitude = -117.480942; captureRadius = 10; duration = 50; initialDepth = 763.863968; finalDepth = 765.848060; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:765.84806 # Seafloor depth:-805.848060 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 803.863968 meters looking forward 0.000000 meters along route # Maximum depth: 803.863968 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 763.863968 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.759659; longitude = -117.481109; captureRadius = 10; duration = 50; initialDepth = 768.416564; finalDepth = 763.863968; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:763.863968 # Seafloor depth:-803.863968 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 808.416564 meters looking forward 0.000000 meters along route # Maximum depth: 808.416564 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 768.416564 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.760201; longitude = -117.481275; captureRadius = 10; duration = 50; initialDepth = 778.689579; finalDepth = 768.416564; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:768.416564 # Seafloor depth:-808.416564 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 818.689579 meters looking forward 0.000000 meters along route # Maximum depth: 818.689579 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 778.689579 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.760742; longitude = -117.481442; captureRadius = 10; duration = 50; initialDepth = 787.967415; finalDepth = 778.689579; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:778.689579 # Seafloor depth:-818.689579 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 827.967415 meters looking forward 0.000000 meters along route # Maximum depth: 827.967415 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 787.967415 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.761179; longitude = -117.481576; captureRadius = 10; duration = 50; initialDepth = 794.119785; finalDepth = 787.967415; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:787.967415 # Seafloor depth:-827.967415 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 834.119785 meters looking forward 0.000000 meters along route # Maximum depth: 834.119785 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 794.119785 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.761699; longitude = -117.481736; captureRadius = 10; duration = 50; initialDepth = 797.690650; finalDepth = 794.119785; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:794.119785 # Seafloor depth:-834.119785 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 837.690650 meters looking forward 0.000000 meters along route # Maximum depth: 837.690650 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 797.690650 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.762231; longitude = -117.481899; captureRadius = 10; duration = 50; initialDepth = 799.934848; finalDepth = 797.690650; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:797.69065 # Seafloor depth:-837.690650 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 839.934848 meters looking forward 0.000000 meters along route # Maximum depth: 839.934848 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 799.934848 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.762772; longitude = -117.482066; captureRadius = 10; duration = 50; initialDepth = 800.009339; finalDepth = 799.934848; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:799.934848 # Seafloor depth:-839.934848 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 840.009339 meters looking forward 0.000000 meters along route # Maximum depth: 840.009339 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.763314; longitude = -117.482232; captureRadius = 10; duration = 50; initialDepth = 805.015606; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.009339 # Actual altitude: 50 # Commanded vehicle depth:800 # Seafloor depth:-840.009339 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 845.015606 meters looking forward 0.000000 meters along route # Maximum depth: 845.015606 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.763855; longitude = -117.482399; captureRadius = 10; duration = 50; initialDepth = 804.885684; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.015606 # Actual altitude: 50 # Commanded vehicle depth:800 # Seafloor depth:-845.015606 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 844.885684 meters looking forward 0.000000 meters along route # Maximum depth: 844.885684 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.764302; longitude = -117.482536; captureRadius = 10; duration = 50; initialDepth = 806.219049; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.015606 # Actual altitude: 50 # Commanded vehicle depth:800 # Seafloor depth:-844.885684 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 846.219049 meters looking forward 0.000000 meters along route # Maximum depth: 846.219049 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.764823; longitude = -117.482696; captureRadius = 10; duration = 50; initialDepth = 807.134696; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.219049 # Actual altitude: 50 # Commanded vehicle depth:800 # Seafloor depth:-846.219049 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 847.134696 meters looking forward 0.000000 meters along route # Maximum depth: 847.134696 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.765344; longitude = -117.482856; captureRadius = 10; duration = 50; initialDepth = 808.409051; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.134696 # Actual altitude: 50 # Commanded vehicle depth:800 # Seafloor depth:-847.134696 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 848.409051 meters looking forward 0.000000 meters along route # Maximum depth: 848.409051 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.765885; longitude = -117.483023; captureRadius = 10; duration = 50; initialDepth = 807.061638; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.409051 # Actual altitude: 50 # Commanded vehicle depth:800 # Seafloor depth:-848.409051 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 847.061638 meters looking forward 0.000000 meters along route # Maximum depth: 847.061638 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.766426; longitude = -117.483189; captureRadius = 10; duration = 50; initialDepth = 799.591782; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.409051 # Actual altitude: 50 # Commanded vehicle depth:800 # Seafloor depth:-847.061638 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 839.591782 meters looking forward 0.000000 meters along route # Maximum depth: 839.591782 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 799.591782 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.766968; longitude = -117.483356; captureRadius = 10; duration = 50; initialDepth = 792.714857; finalDepth = 799.591782; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.061638 # Actual altitude: 50 # Commanded vehicle depth:799.591782 # Seafloor depth:-839.591782 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 832.714857 meters looking forward 0.000000 meters along route # Maximum depth: 832.714857 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 792.714857 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.767509; longitude = -117.483522; captureRadius = 10; duration = 50; initialDepth = 787.614973; finalDepth = 792.714857; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:792.714857 # Seafloor depth:-832.714857 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 827.614973 meters looking forward 0.000000 meters along route # Maximum depth: 827.614973 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 787.614973 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.768050; longitude = -117.483688; captureRadius = 10; duration = 50; initialDepth = 783.676830; finalDepth = 787.614973; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:787.614973 # Seafloor depth:-827.614973 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 823.676830 meters looking forward 0.000000 meters along route # Maximum depth: 823.676830 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 783.676830 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.768592; longitude = -117.483855; captureRadius = 10; duration = 50; initialDepth = 778.408817; finalDepth = 783.676830; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:783.67683 # Seafloor depth:-823.676830 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 818.408817 meters looking forward 0.000000 meters along route # Maximum depth: 818.408817 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 778.408817 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.769133; longitude = -117.484021; captureRadius = 10; duration = 50; initialDepth = 778.449880; finalDepth = 778.408817; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:778.408817 # Seafloor depth:-818.408817 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 818.449880 meters looking forward 0.000000 meters along route # Maximum depth: 818.449880 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 778.449880 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.769675; longitude = -117.484188; captureRadius = 10; duration = 50; initialDepth = 778.684732; finalDepth = 778.449880; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:778.44988 # Seafloor depth:-818.449880 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 818.684732 meters looking forward 0.000000 meters along route # Maximum depth: 818.684732 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 778.684732 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.770216; longitude = -117.484354; captureRadius = 10; duration = 50; initialDepth = 781.152069; finalDepth = 778.684732; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:778.684732 # Seafloor depth:-818.684732 # 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 = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 50.186748 meters # Minimum depth: 821.152069 meters looking forward 0.000000 meters along route # Maximum depth: 821.152069 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 781.152069 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.770765; longitude = -117.484523; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 786.919243; finalDepth = 781.152069; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:781.152069 # Seafloor depth:-821.152069 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 826.919243 meters looking forward 0.000000 meters along route # Maximum depth: 826.919243 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 786.919243 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.771104; longitude = -117.484937; captureRadius = 10; duration = 50; initialDepth = 790.854373; finalDepth = 786.919243; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:786.919243 # Seafloor depth:-826.919243 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 830.854373 meters looking forward 0.000000 meters along route # Maximum depth: 830.854373 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 790.854373 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.771434; longitude = -117.485340; captureRadius = 10; duration = 50; initialDepth = 793.920837; finalDepth = 790.854373; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:790.854373 # Seafloor depth:-830.854373 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 833.920837 meters looking forward 0.000000 meters along route # Maximum depth: 833.920837 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 793.920837 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.771760; longitude = -117.485737; captureRadius = 10; duration = 50; initialDepth = 794.248877; finalDepth = 793.920837; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:793.920837 # Seafloor depth:-833.920837 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 834.248877 meters looking forward 0.000000 meters along route # Maximum depth: 834.248877 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 794.248877 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.772153; longitude = -117.486217; captureRadius = 10; duration = 50; initialDepth = 792.896011; finalDepth = 794.248877; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:794.248877 # Seafloor depth:-834.248877 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 832.896011 meters looking forward 0.000000 meters along route # Maximum depth: 832.896011 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 792.896011 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.772546; longitude = -117.486698; captureRadius = 10; duration = 50; initialDepth = 795.292602; finalDepth = 792.896011; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:792.896011 # Seafloor depth:-832.896011 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 835.292602 meters looking forward 0.000000 meters along route # Maximum depth: 835.292602 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 795.292602 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.772940; longitude = -117.487178; captureRadius = 10; duration = 50; initialDepth = 801.960820; finalDepth = 795.292602; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:795.292602 # Seafloor depth:-835.292602 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 841.960820 meters looking forward 0.000000 meters along route # Maximum depth: 841.960820 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.773333; longitude = -117.487658; captureRadius = 10; duration = 50; initialDepth = 814.843454; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.96082 # Actual altitude: 50 # Commanded vehicle depth:800 # Seafloor depth:-841.960820 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 854.843454 meters looking forward 0.000000 meters along route # Maximum depth: 854.843454 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.773735; longitude = -117.488149; captureRadius = 10; duration = 50; initialDepth = 830.483858; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.843454 # Actual altitude: 54.843454 # Commanded vehicle depth:800 # Seafloor depth:-854.843454 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.94; MB_Bottom_Detect_Filter_Max_Range = 219.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 50.186748 meters # Minimum depth: 870.483858 meters looking forward 0.000000 meters along route # Maximum depth: 870.483858 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.774141; longitude = -117.488644; captureRadius = 10; duration = 50; initialDepth = 846.262269; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.4838580000001 # Actual altitude: 70.4838580000001 # Commanded vehicle depth:800 # Seafloor depth:-870.483858 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 281.94; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.19; MB_Bottom_Detect_Filter_Max_Range = 281.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 50.186748 meters # Minimum depth: 886.262269 meters looking forward 0.000000 meters along route # Maximum depth: 886.262269 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.774547; longitude = -117.489140; captureRadius = 10; duration = 50; initialDepth = 855.847267; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.2622689999999 # Actual altitude: 86.2622689999999 # Commanded vehicle depth:800 # Seafloor depth:-886.262269 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 345.05; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.50; MB_Bottom_Detect_Filter_Max_Range = 345.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 258.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 50.186748 meters # Minimum depth: 895.847267 meters looking forward 0.000000 meters along route # Maximum depth: 895.847267 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.774953; longitude = -117.489636; captureRadius = 10; duration = 50; initialDepth = 859.453289; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 95.847267 # Actual altitude: 95.847267 # Commanded vehicle depth:800 # Seafloor depth:-895.847267 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 383.39; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.34; MB_Bottom_Detect_Filter_Max_Range = 383.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 287.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 50.186748 meters # Minimum depth: 899.453289 meters looking forward 0.000000 meters along route # Maximum depth: 899.453289 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.775299; longitude = -117.490059; captureRadius = 10; duration = 50; initialDepth = 859.994089; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 99.453289 # Actual altitude: 99.453289 # Commanded vehicle depth:800 # Seafloor depth:-899.453289 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 397.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.78; MB_Bottom_Detect_Filter_Max_Range = 397.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 298.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 50.186748 meters # Minimum depth: 899.994089 meters looking forward 0.000000 meters along route # Maximum depth: 899.994089 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.775630; longitude = -117.490462; captureRadius = 10; duration = 50; initialDepth = 859.027416; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 99.994089 # Actual altitude: 99.994089 # Commanded vehicle depth:800 # Seafloor depth:-899.994089 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 399.98; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 399.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 299.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 50.186748 meters # Minimum depth: 899.027416 meters looking forward 0.000000 meters along route # Maximum depth: 899.027416 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.775955; longitude = -117.490859; captureRadius = 10; duration = 50; initialDepth = 858.012494; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 99.994089 # Actual altitude: 99.994089 # Commanded vehicle depth:800 # Seafloor depth:-899.027416 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 399.98; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 399.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 299.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 50.186748 meters # Minimum depth: 898.012494 meters looking forward 0.000000 meters along route # Maximum depth: 898.012494 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.776348; longitude = -117.491339; captureRadius = 10; duration = 50; initialDepth = 855.293571; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 99.027416 # Actual altitude: 99.027416 # Commanded vehicle depth:800 # Seafloor depth:-898.012494 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 396.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.61; MB_Bottom_Detect_Filter_Max_Range = 396.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 297.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 50.186748 meters # Minimum depth: 895.293571 meters looking forward 0.000000 meters along route # Maximum depth: 895.293571 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.776742; longitude = -117.491819; captureRadius = 10; duration = 50; initialDepth = 848.385643; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 98.0124939999999 # Actual altitude: 98.0124939999999 # Commanded vehicle depth:800 # Seafloor depth:-895.293571 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 392.05; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.20; MB_Bottom_Detect_Filter_Max_Range = 392.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 294.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 50.186748 meters # Minimum depth: 888.385643 meters looking forward 0.000000 meters along route # Maximum depth: 888.385643 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.777135; longitude = -117.492300; captureRadius = 10; duration = 50; initialDepth = 841.527777; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 95.293571 # Actual altitude: 95.293571 # Commanded vehicle depth:800 # Seafloor depth:-888.385643 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 381.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.12; MB_Bottom_Detect_Filter_Max_Range = 381.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 285.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 50.186748 meters # Minimum depth: 881.527777 meters looking forward 0.000000 meters along route # Maximum depth: 881.527777 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.777528; longitude = -117.492780; captureRadius = 10; duration = 50; initialDepth = 835.381339; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 88.385643 # Actual altitude: 88.385643 # Commanded vehicle depth:800 # Seafloor depth:-881.527777 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 353.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.35; MB_Bottom_Detect_Filter_Max_Range = 353.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 265.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 50.186748 meters # Minimum depth: 875.381339 meters looking forward 0.000000 meters along route # Maximum depth: 875.381339 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.777930; longitude = -117.493271; captureRadius = 10; duration = 50; initialDepth = 830.373891; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.527777 # Actual altitude: 81.527777 # Commanded vehicle depth:800 # Seafloor depth:-875.381339 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 326.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.61; MB_Bottom_Detect_Filter_Max_Range = 326.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 244.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 50.186748 meters # Minimum depth: 870.373891 meters looking forward 0.000000 meters along route # Maximum depth: 870.373891 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.778336; longitude = -117.493767; captureRadius = 10; duration = 50; initialDepth = 827.727548; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.381339 # Actual altitude: 75.381339 # Commanded vehicle depth:800 # Seafloor depth:-870.373891 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 301.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.15; MB_Bottom_Detect_Filter_Max_Range = 301.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 226.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 50.186748 meters # Minimum depth: 867.727548 meters looking forward 0.000000 meters along route # Maximum depth: 867.727548 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.778742; longitude = -117.494262; captureRadius = 10; duration = 50; initialDepth = 828.143204; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.373891 # Actual altitude: 70.373891 # Commanded vehicle depth:800 # Seafloor depth:-867.727548 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 281.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.15; MB_Bottom_Detect_Filter_Max_Range = 281.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 50.186748 meters # Minimum depth: 868.143204 meters looking forward 0.000000 meters along route # Maximum depth: 868.143204 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.779149; longitude = -117.494758; captureRadius = 10; duration = 50; initialDepth = 832.399741; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.143204 # Actual altitude: 68.143204 # Commanded vehicle depth:800 # Seafloor depth:-868.143204 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 272.57; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.26; MB_Bottom_Detect_Filter_Max_Range = 272.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 50.186748 meters # Minimum depth: 872.399741 meters looking forward 0.000000 meters along route # Maximum depth: 872.399741 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.779495; longitude = -117.495181; captureRadius = 10; duration = 50; initialDepth = 839.310140; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.3997409999999 # Actual altitude: 72.3997409999999 # Commanded vehicle depth:800 # Seafloor depth:-872.399741 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 289.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.96; MB_Bottom_Detect_Filter_Max_Range = 289.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 50.186748 meters # Minimum depth: 879.310140 meters looking forward 0.000000 meters along route # Maximum depth: 879.310140 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.779825; longitude = -117.495584; captureRadius = 10; duration = 50; initialDepth = 848.993209; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.31014 # Actual altitude: 79.31014 # Commanded vehicle depth:800 # Seafloor depth:-879.310140 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 317.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.72; MB_Bottom_Detect_Filter_Max_Range = 317.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 237.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 50.186748 meters # Minimum depth: 888.993209 meters looking forward 0.000000 meters along route # Maximum depth: 888.993209 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.780150; longitude = -117.495981; captureRadius = 10; duration = 50; initialDepth = 859.471982; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 88.993209 # Actual altitude: 88.993209 # Commanded vehicle depth:800 # Seafloor depth:-888.993209 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 355.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.60; MB_Bottom_Detect_Filter_Max_Range = 355.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 266.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 50.186748 meters # Minimum depth: 899.471982 meters looking forward 0.000000 meters along route # Maximum depth: 899.471982 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.780544; longitude = -117.496461; captureRadius = 10; duration = 50; initialDepth = 868.860684; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 99.471982 # Actual altitude: 99.471982 # Commanded vehicle depth:800 # Seafloor depth:-899.471982 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 397.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.79; MB_Bottom_Detect_Filter_Max_Range = 397.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 298.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 50.186748 meters # Minimum depth: 908.860684 meters looking forward 0.000000 meters along route # Maximum depth: 908.860684 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.780937; longitude = -117.496941; captureRadius = 10; duration = 50; initialDepth = 872.196459; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 108.860684 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-908.860684 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 50.186748 meters # Minimum depth: 912.196459 meters looking forward 0.000000 meters along route # Maximum depth: 912.196459 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.781330; longitude = -117.497421; captureRadius = 10; duration = 50; initialDepth = 872.391547; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 112.196459 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-912.196459 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 50.186748 meters # Minimum depth: 912.391547 meters looking forward 0.000000 meters along route # Maximum depth: 912.391547 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.781723; longitude = -117.497902; captureRadius = 10; duration = 50; initialDepth = 872.311160; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 112.391547 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-912.391547 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 50.186748 meters # Minimum depth: 912.311160 meters looking forward 0.000000 meters along route # Maximum depth: 912.311160 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.782126; longitude = -117.498393; captureRadius = 10; duration = 50; initialDepth = 871.797273; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 112.391547 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-912.311160 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 50.186748 meters # Minimum depth: 911.797273 meters looking forward 0.000000 meters along route # Maximum depth: 911.797273 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.782532; longitude = -117.498889; captureRadius = 10; duration = 50; initialDepth = 872.116681; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 112.31116 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-911.797273 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 50.186748 meters # Minimum depth: 912.116681 meters looking forward 0.000000 meters along route # Maximum depth: 912.116681 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.782938; longitude = -117.499384; captureRadius = 10; duration = 50; initialDepth = 871.111611; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 112.116681 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-912.116681 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 50.186748 meters # Minimum depth: 911.111611 meters looking forward 0.000000 meters along route # Maximum depth: 911.111611 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.783344; longitude = -117.499880; captureRadius = 10; duration = 50; initialDepth = 869.149678; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 112.116681 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-911.111611 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 50.186748 meters # Minimum depth: 909.149678 meters looking forward 0.000000 meters along route # Maximum depth: 909.149678 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.783690; longitude = -117.500302; captureRadius = 10; duration = 50; initialDepth = 863.865773; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 111.111611 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-909.149678 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 50.186748 meters # Minimum depth: 903.865773 meters looking forward 0.000000 meters along route # Maximum depth: 903.865773 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.784021; longitude = -117.500706; captureRadius = 10; duration = 50; initialDepth = 857.123853; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 109.149678 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-903.865773 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 50.186748 meters # Minimum depth: 897.123853 meters looking forward 0.000000 meters along route # Maximum depth: 897.123853 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.784346; longitude = -117.501103; captureRadius = 10; duration = 50; initialDepth = 851.250843; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 103.865773 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-897.123853 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 50.186748 meters # Minimum depth: 891.250843 meters looking forward 0.000000 meters along route # Maximum depth: 891.250843 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.784739; longitude = -117.501583; captureRadius = 10; duration = 50; initialDepth = 849.381293; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 97.1238530000001 # Actual altitude: 97.1238530000001 # Commanded vehicle depth:800 # Seafloor depth:-891.250843 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 388.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.85; MB_Bottom_Detect_Filter_Max_Range = 388.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 291.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 50.186748 meters # Minimum depth: 889.381293 meters looking forward 0.000000 meters along route # Maximum depth: 889.381293 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.785132; longitude = -117.502063; captureRadius = 10; duration = 50; initialDepth = 846.818144; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 91.250843 # Actual altitude: 91.250843 # Commanded vehicle depth:800 # Seafloor depth:-889.381293 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 365.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.50; MB_Bottom_Detect_Filter_Max_Range = 365.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 273.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 50.186748 meters # Minimum depth: 886.818144 meters looking forward 0.000000 meters along route # Maximum depth: 886.818144 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.785525; longitude = -117.502543; captureRadius = 10; duration = 50; initialDepth = 848.905662; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 89.381293 # Actual altitude: 89.381293 # Commanded vehicle depth:800 # Seafloor depth:-886.818144 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 357.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.75; MB_Bottom_Detect_Filter_Max_Range = 357.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 268.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 50.186748 meters # Minimum depth: 888.905662 meters looking forward 0.000000 meters along route # Maximum depth: 888.905662 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.785919; longitude = -117.503023; captureRadius = 10; duration = 50; initialDepth = 850.437908; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 88.905662 # Actual altitude: 88.905662 # Commanded vehicle depth:800 # Seafloor depth:-888.905662 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 355.62; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.56; MB_Bottom_Detect_Filter_Max_Range = 355.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 266.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 50.186748 meters # Minimum depth: 890.437908 meters looking forward 0.000000 meters along route # Maximum depth: 890.437908 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.786322; longitude = -117.503515; captureRadius = 10; duration = 50; initialDepth = 856.932458; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 90.437908 # Actual altitude: 90.437908 # Commanded vehicle depth:800 # Seafloor depth:-890.437908 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 361.75; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.18; MB_Bottom_Detect_Filter_Max_Range = 361.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 271.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 50.186748 meters # Minimum depth: 896.932458 meters looking forward 0.000000 meters along route # Maximum depth: 896.932458 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.786728; longitude = -117.504011; captureRadius = 10; duration = 50; initialDepth = 860.563179; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 96.932458 # Actual altitude: 96.932458 # Commanded vehicle depth:800 # Seafloor depth:-896.932458 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 387.73; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.77; MB_Bottom_Detect_Filter_Max_Range = 387.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 290.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 50.186748 meters # Minimum depth: 900.563179 meters looking forward 0.000000 meters along route # Maximum depth: 900.563179 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.787134; longitude = -117.504507; captureRadius = 10; duration = 50; initialDepth = 867.098023; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 100.563179 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-900.563179 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 50.186748 meters # Minimum depth: 907.098023 meters looking forward 0.000000 meters along route # Maximum depth: 907.098023 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.787492; longitude = -117.504944; captureRadius = 10; duration = 50; initialDepth = 865.738914; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 107.098023 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-907.098023 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 50.186748 meters # Minimum depth: 905.738914 meters looking forward 0.000000 meters along route # Maximum depth: 905.738914 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.787810; longitude = -117.505333; captureRadius = 10; duration = 50; initialDepth = 865.982041; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 107.098023 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-905.738914 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 50.186748 meters # Minimum depth: 905.982041 meters looking forward 0.000000 meters along route # Maximum depth: 905.982041 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.788148; longitude = -117.505744; captureRadius = 10; duration = 50; initialDepth = 868.467951; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 105.982041 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-905.982041 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 50.186748 meters # Minimum depth: 908.467951 meters looking forward 0.000000 meters along route # Maximum depth: 908.467951 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.788487; longitude = -117.506159; captureRadius = 10; duration = 50; initialDepth = 868.338173; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 108.467951 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-908.467951 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 50.186748 meters # Minimum depth: 908.338173 meters looking forward 0.000000 meters along route # Maximum depth: 908.338173 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.788803; longitude = -117.506545; captureRadius = 10; duration = 50; initialDepth = 869.590478; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 108.467951 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-908.338173 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 50.186748 meters # Minimum depth: 909.590478 meters looking forward 0.000000 meters along route # Maximum depth: 909.590478 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.789196; longitude = -117.507025; captureRadius = 10; duration = 50; initialDepth = 869.564748; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 109.590478 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-909.590478 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 50.186748 meters # Minimum depth: 909.564748 meters looking forward 0.000000 meters along route # Maximum depth: 909.564748 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.789590; longitude = -117.507505; captureRadius = 10; duration = 50; initialDepth = 866.931461; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 109.590478 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-909.564748 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 50.186748 meters # Minimum depth: 906.931461 meters looking forward 0.000000 meters along route # Maximum depth: 906.931461 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.789983; longitude = -117.507985; captureRadius = 10; duration = 50; initialDepth = 869.029949; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 109.564748 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-906.931461 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 50.186748 meters # Minimum depth: 909.029949 meters looking forward 0.000000 meters along route # Maximum depth: 909.029949 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.790382; longitude = -117.508472; captureRadius = 10; duration = 50; initialDepth = 866.204208; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 109.029949 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-909.029949 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 50.186748 meters # Minimum depth: 906.204208 meters looking forward 0.000000 meters along route # Maximum depth: 906.204208 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.790788; longitude = -117.508968; captureRadius = 10; duration = 50; initialDepth = 868.915126; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 109.029949 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-906.204208 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 50.186748 meters # Minimum depth: 908.915126 meters looking forward 0.000000 meters along route # Maximum depth: 908.915126 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.791194; longitude = -117.509463; captureRadius = 10; duration = 50; initialDepth = 867.764644; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 108.915126 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-908.915126 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 50.186748 meters # Minimum depth: 907.764644 meters looking forward 0.000000 meters along route # Maximum depth: 907.764644 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.791556; longitude = -117.509906; captureRadius = 10; duration = 50; initialDepth = 866.498141; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 108.915126 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-907.764644 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 50.186748 meters # Minimum depth: 906.498141 meters looking forward 0.000000 meters along route # Maximum depth: 906.498141 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.791871; longitude = -117.510290; captureRadius = 10; duration = 50; initialDepth = 865.567702; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 107.764644 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-906.498141 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 50.186748 meters # Minimum depth: 905.567702 meters looking forward 0.000000 meters along route # Maximum depth: 905.567702 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.792212; longitude = -117.510706; captureRadius = 10; duration = 50; initialDepth = 864.964633; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 106.498141 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-905.567702 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 50.186748 meters # Minimum depth: 904.964633 meters looking forward 0.000000 meters along route # Maximum depth: 904.964633 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.792547; longitude = -117.511116; captureRadius = 10; duration = 50; initialDepth = 866.207545; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 105.567702 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-904.964633 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 50.186748 meters # Minimum depth: 906.207545 meters looking forward 0.000000 meters along route # Maximum depth: 906.207545 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.792867; longitude = -117.511506; captureRadius = 10; duration = 50; initialDepth = 865.816836; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 106.207545 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-906.207545 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 50.186748 meters # Minimum depth: 905.816836 meters looking forward 0.000000 meters along route # Maximum depth: 905.816836 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.793261; longitude = -117.511986; captureRadius = 10; duration = 50; initialDepth = 865.147011; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 106.207545 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-905.816836 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 50.186748 meters # Minimum depth: 905.147011 meters looking forward 0.000000 meters along route # Maximum depth: 905.147011 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.793654; longitude = -117.512467; captureRadius = 10; duration = 50; initialDepth = 866.129528; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 105.816836 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-905.147011 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 50.186748 meters # Minimum depth: 906.129528 meters looking forward 0.000000 meters along route # Maximum depth: 906.129528 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.794047; longitude = -117.512947; captureRadius = 10; duration = 50; initialDepth = 865.568731; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 106.129528 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-906.129528 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 50.186748 meters # Minimum depth: 905.568731 meters looking forward 0.000000 meters along route # Maximum depth: 905.568731 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.794442; longitude = -117.513429; captureRadius = 10; duration = 50; initialDepth = 866.893707; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 106.129528 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-905.568731 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; 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 30 # Segment length 50.186748 meters # Minimum depth: 906.893707 meters looking forward 0.000000 meters along route # Maximum depth: 906.893707 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.794814; longitude = -117.513883; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 867.020035; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 106.893707 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-906.893707 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 50.186748 meters # Minimum depth: 907.020035 meters looking forward 0.000000 meters along route # Maximum depth: 907.020035 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.794794; longitude = -117.513907; captureRadius = 10; duration = 50; initialDepth = 867.978723; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 107.020035 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-907.020035 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 50.186748 meters # Minimum depth: 907.978723 meters looking forward 0.000000 meters along route # Maximum depth: 907.978723 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.794442; longitude = -117.514323; captureRadius = 10; duration = 50; initialDepth = 868.622921; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 107.978723 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-907.978723 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 50.186748 meters # Minimum depth: 908.622921 meters looking forward 0.000000 meters along route # Maximum depth: 908.622921 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.794116; longitude = -117.514707; captureRadius = 10; duration = 50; initialDepth = 871.219190; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 108.622921 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-908.622921 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 50.186748 meters # Minimum depth: 911.219190 meters looking forward 0.000000 meters along route # Maximum depth: 911.219190 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.793765; longitude = -117.515122; captureRadius = 10; duration = 50; initialDepth = 872.175062; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 111.21919 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-911.219190 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 50.186748 meters # Minimum depth: 912.175062 meters looking forward 0.000000 meters along route # Maximum depth: 912.175062 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.793439; longitude = -117.515508; captureRadius = 10; duration = 50; initialDepth = 872.331332; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 112.175062 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-912.175062 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 50.186748 meters # Minimum depth: 912.331332 meters looking forward 0.000000 meters along route # Maximum depth: 912.331332 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.793089; longitude = -117.515922; captureRadius = 10; duration = 50; initialDepth = 872.311314; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 112.331332 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-912.331332 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 50.186748 meters # Minimum depth: 912.311314 meters looking forward 0.000000 meters along route # Maximum depth: 912.311314 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.792762; longitude = -117.516308; captureRadius = 10; duration = 50; initialDepth = 867.711098; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 112.331332 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-912.311314 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 50.186748 meters # Minimum depth: 907.711098 meters looking forward 0.000000 meters along route # Maximum depth: 907.711098 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.792412; longitude = -117.516722; captureRadius = 10; duration = 50; initialDepth = 867.900823; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 112.311314 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-907.711098 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 50.186748 meters # Minimum depth: 907.900823 meters looking forward 0.000000 meters along route # Maximum depth: 907.900823 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.792085; longitude = -117.517108; captureRadius = 10; duration = 50; initialDepth = 872.215652; finalDepth = 800.000000; 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: 107.900823 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-907.900823 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 29 # Segment length 50.186748 meters # Minimum depth: 912.215652 meters looking forward 0.000000 meters along route # Maximum depth: 912.215652 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.791747; longitude = -117.517508; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 872.266499; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 112.215652 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-912.215652 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 50.186748 meters # Minimum depth: 912.266499 meters looking forward 0.000000 meters along route # Maximum depth: 912.266499 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.791735; longitude = -117.517494; captureRadius = 10; duration = 50; initialDepth = 872.020759; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 112.266499 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-912.266499 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 50.186748 meters # Minimum depth: 912.020759 meters looking forward 0.000000 meters along route # Maximum depth: 912.020759 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.791421; longitude = -117.517108; captureRadius = 10; duration = 50; initialDepth = 872.544984; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 112.266499 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-912.020759 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 50.186748 meters # Minimum depth: 912.544984 meters looking forward 0.000000 meters along route # Maximum depth: 912.544984 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.791030; longitude = -117.516628; captureRadius = 10; duration = 50; initialDepth = 872.316934; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 112.544984 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-912.544984 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 50.186748 meters # Minimum depth: 912.316934 meters looking forward 0.000000 meters along route # Maximum depth: 912.316934 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.790639; longitude = -117.516148; captureRadius = 10; duration = 50; initialDepth = 869.839926; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 112.544984 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-912.316934 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 50.186748 meters # Minimum depth: 909.839926 meters looking forward 0.000000 meters along route # Maximum depth: 909.839926 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.790247; longitude = -117.515666; captureRadius = 10; duration = 50; initialDepth = 872.004314; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 112.316934 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-909.839926 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 50.186748 meters # Minimum depth: 912.004314 meters looking forward 0.000000 meters along route # Maximum depth: 912.004314 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.789840; longitude = -117.515167; captureRadius = 10; duration = 50; initialDepth = 872.063240; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 112.004314 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-912.004314 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 50.186748 meters # Minimum depth: 912.063240 meters looking forward 0.000000 meters along route # Maximum depth: 912.063240 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.789434; longitude = -117.514668; captureRadius = 10; duration = 50; initialDepth = 871.000877; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 112.06324 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-912.063240 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 50.186748 meters # Minimum depth: 911.000877 meters looking forward 0.000000 meters along route # Maximum depth: 911.000877 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.789028; longitude = -117.514170; captureRadius = 10; duration = 50; initialDepth = 870.469884; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 112.06324 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-911.000877 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 50.186748 meters # Minimum depth: 910.469884 meters looking forward 0.000000 meters along route # Maximum depth: 910.469884 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.788684; longitude = -117.513747; captureRadius = 10; duration = 50; initialDepth = 870.057561; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 111.000877 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-910.469884 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 50.186748 meters # Minimum depth: 910.057561 meters looking forward 0.000000 meters along route # Maximum depth: 910.057561 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.788352; longitude = -117.513339; captureRadius = 10; duration = 50; initialDepth = 869.888313; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 110.469884 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-910.057561 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 50.186748 meters # Minimum depth: 909.888313 meters looking forward 0.000000 meters along route # Maximum depth: 909.888313 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.788032; longitude = -117.512947; captureRadius = 10; duration = 50; initialDepth = 869.815857; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 110.057561 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-909.888313 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 50.186748 meters # Minimum depth: 909.815857 meters looking forward 0.000000 meters along route # Maximum depth: 909.815857 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.787641; longitude = -117.512467; captureRadius = 10; duration = 50; initialDepth = 869.039458; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 109.888313 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-909.815857 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 50.186748 meters # Minimum depth: 909.039458 meters looking forward 0.000000 meters along route # Maximum depth: 909.039458 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.787250; longitude = -117.511986; captureRadius = 10; duration = 50; initialDepth = 870.592516; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 109.815857 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-909.039458 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 50.186748 meters # Minimum depth: 910.592516 meters looking forward 0.000000 meters along route # Maximum depth: 910.592516 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.786859; longitude = -117.511506; captureRadius = 10; duration = 50; initialDepth = 869.521105; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 110.592516 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-910.592516 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 50.186748 meters # Minimum depth: 909.521105 meters looking forward 0.000000 meters along route # Maximum depth: 909.521105 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.786457; longitude = -117.511012; captureRadius = 10; duration = 50; initialDepth = 870.261095; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 110.592516 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-909.521105 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 50.186748 meters # Minimum depth: 910.261095 meters looking forward 0.000000 meters along route # Maximum depth: 910.261095 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.786051; longitude = -117.510514; captureRadius = 10; duration = 50; initialDepth = 870.924699; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 110.261095 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-910.261095 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 50.186748 meters # Minimum depth: 910.924699 meters looking forward 0.000000 meters along route # Maximum depth: 910.924699 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.785645; longitude = -117.510015; captureRadius = 10; duration = 50; initialDepth = 870.673461; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 110.924699 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-910.924699 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 50.186748 meters # Minimum depth: 910.673461 meters looking forward 0.000000 meters along route # Maximum depth: 910.673461 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.785295; longitude = -117.509586; captureRadius = 10; duration = 50; initialDepth = 871.228830; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 110.924699 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-910.673461 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 50.186748 meters # Minimum depth: 911.228830 meters looking forward 0.000000 meters along route # Maximum depth: 911.228830 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.784968; longitude = -117.509184; captureRadius = 10; duration = 50; initialDepth = 871.255251; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 111.22883 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-911.228830 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 50.186748 meters # Minimum depth: 911.255251 meters looking forward 0.000000 meters along route # Maximum depth: 911.255251 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.784643; longitude = -117.508785; captureRadius = 10; duration = 50; initialDepth = 870.362185; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 111.255251 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-911.255251 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 50.186748 meters # Minimum depth: 910.362185 meters looking forward 0.000000 meters along route # Maximum depth: 910.362185 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.784252; longitude = -117.508305; captureRadius = 10; duration = 50; initialDepth = 871.044903; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 111.255251 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-910.362185 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 50.186748 meters # Minimum depth: 911.044903 meters looking forward 0.000000 meters along route # Maximum depth: 911.044903 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.783861; longitude = -117.507825; captureRadius = 10; duration = 50; initialDepth = 871.721075; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 111.044903 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-911.044903 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 50.186748 meters # Minimum depth: 911.721075 meters looking forward 0.000000 meters along route # Maximum depth: 911.721075 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.783470; longitude = -117.507345; captureRadius = 10; duration = 50; initialDepth = 871.590573; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 111.721075 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-911.721075 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 50.186748 meters # Minimum depth: 911.590573 meters looking forward 0.000000 meters along route # Maximum depth: 911.590573 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.783073; longitude = -117.506858; captureRadius = 10; duration = 50; initialDepth = 870.663148; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 111.721075 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-911.590573 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 50.186748 meters # Minimum depth: 910.663148 meters looking forward 0.000000 meters along route # Maximum depth: 910.663148 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.782667; longitude = -117.506359; captureRadius = 10; duration = 50; initialDepth = 870.008687; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 111.590573 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-910.663148 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 50.186748 meters # Minimum depth: 910.008687 meters looking forward 0.000000 meters along route # Maximum depth: 910.008687 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.782261; longitude = -117.505860; captureRadius = 10; duration = 50; initialDepth = 869.177596; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 110.663148 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-910.008687 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 50.186748 meters # Minimum depth: 909.177596 meters looking forward 0.000000 meters along route # Maximum depth: 909.177596 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.781855; longitude = -117.505362; captureRadius = 10; duration = 50; initialDepth = 869.884608; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 110.008687 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-909.177596 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 50.186748 meters # Minimum depth: 909.884608 meters looking forward 0.000000 meters along route # Maximum depth: 909.884608 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.781515; longitude = -117.504944; captureRadius = 10; duration = 50; initialDepth = 868.849110; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 109.884608 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-909.884608 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 50.186748 meters # Minimum depth: 908.849110 meters looking forward 0.000000 meters along route # Maximum depth: 908.849110 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.781179; longitude = -117.504531; captureRadius = 10; duration = 50; initialDepth = 869.978477; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 109.884608 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-908.849110 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 50.186748 meters # Minimum depth: 909.978477 meters looking forward 0.000000 meters along route # Maximum depth: 909.978477 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.780863; longitude = -117.504144; captureRadius = 10; duration = 50; initialDepth = 869.800931; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 109.978477 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-909.978477 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 50.186748 meters # Minimum depth: 909.800931 meters looking forward 0.000000 meters along route # Maximum depth: 909.800931 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.780472; longitude = -117.503664; captureRadius = 10; duration = 50; initialDepth = 871.783263; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 109.978477 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-909.800931 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 50.186748 meters # Minimum depth: 911.783263 meters looking forward 0.000000 meters along route # Maximum depth: 911.783263 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.780081; longitude = -117.503183; captureRadius = 10; duration = 50; initialDepth = 870.811572; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 111.783263 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-911.783263 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 50.186748 meters # Minimum depth: 910.811572 meters looking forward 0.000000 meters along route # Maximum depth: 910.811572 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.779690; longitude = -117.502703; captureRadius = 10; duration = 50; initialDepth = 869.677146; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 111.783263 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-910.811572 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 50.186748 meters # Minimum depth: 909.677146 meters looking forward 0.000000 meters along route # Maximum depth: 909.677146 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.779284; longitude = -117.502204; captureRadius = 10; duration = 50; initialDepth = 870.446904; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 110.811572 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-909.677146 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 50.186748 meters # Minimum depth: 910.446904 meters looking forward 0.000000 meters along route # Maximum depth: 910.446904 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.778878; longitude = -117.501706; captureRadius = 10; duration = 50; initialDepth = 869.934786; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 110.446904 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-910.446904 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 50.186748 meters # Minimum depth: 909.934786 meters looking forward 0.000000 meters along route # Maximum depth: 909.934786 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.778472; longitude = -117.501207; captureRadius = 10; duration = 50; initialDepth = 869.038924; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 110.446904 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-909.934786 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 50.186748 meters # Minimum depth: 909.038924 meters looking forward 0.000000 meters along route # Maximum depth: 909.038924 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.778126; longitude = -117.500783; captureRadius = 10; duration = 50; initialDepth = 869.281185; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 109.934786 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-909.038924 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 50.186748 meters # Minimum depth: 909.281185 meters looking forward 0.000000 meters along route # Maximum depth: 909.281185 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.777795; longitude = -117.500376; captureRadius = 10; duration = 50; initialDepth = 867.267024; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 109.281185 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-909.281185 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 50.186748 meters # Minimum depth: 907.267024 meters looking forward 0.000000 meters along route # Maximum depth: 907.267024 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.777474; longitude = -117.499982; captureRadius = 10; duration = 50; initialDepth = 867.940129; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 109.281185 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-907.267024 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 50.186748 meters # Minimum depth: 907.940129 meters looking forward 0.000000 meters along route # Maximum depth: 907.940129 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.777083; longitude = -117.499502; captureRadius = 10; duration = 50; initialDepth = 873.773116; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 107.940129 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-907.940129 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 50.186748 meters # Minimum depth: 913.773116 meters looking forward 0.000000 meters along route # Maximum depth: 913.773116 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.776692; longitude = -117.499022; captureRadius = 10; duration = 50; initialDepth = 874.767124; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 113.773116 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-913.773116 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 50.186748 meters # Minimum depth: 914.767124 meters looking forward 0.000000 meters along route # Maximum depth: 914.767124 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.776301; longitude = -117.498542; captureRadius = 10; duration = 50; initialDepth = 853.530794; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 114.767124 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-914.767124 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 50.186748 meters # Minimum depth: 893.530794 meters looking forward 0.000000 meters along route # Maximum depth: 893.530794 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.775900; longitude = -117.498050; captureRadius = 10; duration = 50; initialDepth = 842.169228; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 114.767124 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-893.530794 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 50.186748 meters # Minimum depth: 882.169228 meters looking forward 0.000000 meters along route # Maximum depth: 882.169228 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.775494; longitude = -117.497551; captureRadius = 10; duration = 50; initialDepth = 834.996713; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 93.530794 # Actual altitude: 93.530794 # Commanded vehicle depth:800 # Seafloor depth:-882.169228 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 374.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.41; MB_Bottom_Detect_Filter_Max_Range = 374.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 280.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 50.186748 meters # Minimum depth: 874.996713 meters looking forward 0.000000 meters along route # Maximum depth: 874.996713 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.775088; longitude = -117.497052; captureRadius = 10; duration = 50; initialDepth = 838.637605; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.169228 # Actual altitude: 82.169228 # Commanded vehicle depth:800 # Seafloor depth:-874.996713 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 328.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.87; MB_Bottom_Detect_Filter_Max_Range = 328.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 246.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 50.186748 meters # Minimum depth: 878.637605 meters looking forward 0.000000 meters along route # Maximum depth: 878.637605 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.774737; longitude = -117.496621; captureRadius = 10; duration = 50; initialDepth = 843.410175; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.637605 # Actual altitude: 78.637605 # Commanded vehicle depth:800 # Seafloor depth:-878.637605 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 314.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.46; MB_Bottom_Detect_Filter_Max_Range = 314.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 235.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 50.186748 meters # Minimum depth: 883.410175 meters looking forward 0.000000 meters along route # Maximum depth: 883.410175 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.774412; longitude = -117.496221; captureRadius = 10; duration = 50; initialDepth = 848.106233; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.410175 # Actual altitude: 83.410175 # Commanded vehicle depth:800 # Seafloor depth:-883.410175 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 333.64; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.36; MB_Bottom_Detect_Filter_Max_Range = 333.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 250.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 50.186748 meters # Minimum depth: 888.106233 meters looking forward 0.000000 meters along route # Maximum depth: 888.106233 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.774085; longitude = -117.495821; captureRadius = 10; duration = 50; initialDepth = 853.448065; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 88.106233 # Actual altitude: 88.106233 # Commanded vehicle depth:800 # Seafloor depth:-888.106233 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 352.42; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.24; MB_Bottom_Detect_Filter_Max_Range = 352.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 264.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 50.186748 meters # Minimum depth: 893.448065 meters looking forward 0.000000 meters along route # Maximum depth: 893.448065 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.773694; longitude = -117.495341; captureRadius = 10; duration = 50; initialDepth = 857.153111; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 93.448065 # Actual altitude: 93.448065 # Commanded vehicle depth:800 # Seafloor depth:-893.448065 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 373.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.38; MB_Bottom_Detect_Filter_Max_Range = 373.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 280.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 50.186748 meters # Minimum depth: 897.153111 meters looking forward 0.000000 meters along route # Maximum depth: 897.153111 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.773303; longitude = -117.494860; captureRadius = 10; duration = 50; initialDepth = 860.050622; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 97.153111 # Actual altitude: 97.153111 # Commanded vehicle depth:800 # Seafloor depth:-897.153111 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 388.61; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.86; MB_Bottom_Detect_Filter_Max_Range = 388.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 291.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 50.186748 meters # Minimum depth: 900.050622 meters looking forward 0.000000 meters along route # Maximum depth: 900.050622 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.772912; longitude = -117.494380; captureRadius = 10; duration = 50; initialDepth = 858.921594; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 100.050622 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-900.050622 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 50.186748 meters # Minimum depth: 898.921594 meters looking forward 0.000000 meters along route # Maximum depth: 898.921594 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.772517; longitude = -117.493895; captureRadius = 10; duration = 50; initialDepth = 858.504794; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 100.050622 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-898.921594 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 50.186748 meters # Minimum depth: 898.504794 meters looking forward 0.000000 meters along route # Maximum depth: 898.504794 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.772111; longitude = -117.493396; captureRadius = 10; duration = 50; initialDepth = 855.834334; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 98.921594 # Actual altitude: 98.921594 # Commanded vehicle depth:800 # Seafloor depth:-898.504794 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 395.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.57; MB_Bottom_Detect_Filter_Max_Range = 395.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 296.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 50.186748 meters # Minimum depth: 895.834334 meters looking forward 0.000000 meters along route # Maximum depth: 895.834334 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.771705; longitude = -117.492898; captureRadius = 10; duration = 50; initialDepth = 850.083027; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 98.5047939999999 # Actual altitude: 98.5047939999999 # Commanded vehicle depth:800 # Seafloor depth:-895.834334 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 394.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.40; MB_Bottom_Detect_Filter_Max_Range = 394.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 295.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 50.186748 meters # Minimum depth: 890.083027 meters looking forward 0.000000 meters along route # Maximum depth: 890.083027 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.771299; longitude = -117.492399; captureRadius = 10; duration = 50; initialDepth = 841.890633; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 95.834334 # Actual altitude: 95.834334 # Commanded vehicle depth:800 # Seafloor depth:-890.083027 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 383.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.33; MB_Bottom_Detect_Filter_Max_Range = 383.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 287.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 50.186748 meters # Minimum depth: 881.890633 meters looking forward 0.000000 meters along route # Maximum depth: 881.890633 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.770957; longitude = -117.491979; captureRadius = 10; duration = 50; initialDepth = 833.768881; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 90.083027 # Actual altitude: 90.083027 # Commanded vehicle depth:800 # Seafloor depth:-881.890633 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 360.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.03; MB_Bottom_Detect_Filter_Max_Range = 360.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 270.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 50.186748 meters # Minimum depth: 873.768881 meters looking forward 0.000000 meters along route # Maximum depth: 873.768881 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.770622; longitude = -117.491568; captureRadius = 10; duration = 50; initialDepth = 827.307399; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.890633 # Actual altitude: 81.890633 # Commanded vehicle depth:800 # Seafloor depth:-873.768881 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 327.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.76; MB_Bottom_Detect_Filter_Max_Range = 327.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 245.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 50.186748 meters # Minimum depth: 867.307399 meters looking forward 0.000000 meters along route # Maximum depth: 867.307399 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.770305; longitude = -117.491179; captureRadius = 10; duration = 50; initialDepth = 821.210751; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.768881 # Actual altitude: 73.768881 # Commanded vehicle depth:800 # Seafloor depth:-867.307399 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 295.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.51; MB_Bottom_Detect_Filter_Max_Range = 295.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 50.186748 meters # Minimum depth: 861.210751 meters looking forward 0.000000 meters along route # Maximum depth: 861.210751 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.769914; longitude = -117.490699; captureRadius = 10; duration = 50; initialDepth = 819.493728; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.307399 # Actual altitude: 67.307399 # Commanded vehicle depth:800 # Seafloor depth:-861.210751 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 269.23; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.92; MB_Bottom_Detect_Filter_Max_Range = 269.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 50.186748 meters # Minimum depth: 859.493728 meters looking forward 0.000000 meters along route # Maximum depth: 859.493728 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.769523; longitude = -117.490219; captureRadius = 10; duration = 50; initialDepth = 817.300151; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.210751 # Actual altitude: 61.210751 # Commanded vehicle depth:800 # Seafloor depth:-859.493728 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 244.84; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.48; MB_Bottom_Detect_Filter_Max_Range = 244.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 183.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 50.186748 meters # Minimum depth: 857.300151 meters looking forward 0.000000 meters along route # Maximum depth: 857.300151 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.769132; longitude = -117.489739; captureRadius = 10; duration = 50; initialDepth = 810.448651; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.493728 # Actual altitude: 59.493728 # Commanded vehicle depth:800 # Seafloor depth:-857.300151 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 237.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.80; MB_Bottom_Detect_Filter_Max_Range = 237.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 178.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 50.186748 meters # Minimum depth: 850.448651 meters looking forward 0.000000 meters along route # Maximum depth: 850.448651 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.768727; longitude = -117.489242; captureRadius = 10; duration = 50; initialDepth = 801.625076; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.300151 # Actual altitude: 57.300151 # Commanded vehicle depth:800 # Seafloor depth:-850.448651 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 229.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.92; MB_Bottom_Detect_Filter_Max_Range = 229.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 171.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 28 # Segment length 50.186748 meters # Minimum depth: 841.625076 meters looking forward 0.000000 meters along route # Maximum depth: 841.625076 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.768300; longitude = -117.488717; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 800.954244; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.448651 # Actual altitude: 50.448651 # Commanded vehicle depth:800 # Seafloor depth:-841.625076 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.18; MB_Bottom_Detect_Filter_Max_Range = 201.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 50.186748 meters # Minimum depth: 840.954244 meters looking forward 0.000000 meters along route # Maximum depth: 840.954244 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.768186; longitude = -117.488685; captureRadius = 10; duration = 50; initialDepth = 801.738118; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.625076 # Actual altitude: 50 # Commanded vehicle depth:800 # Seafloor depth:-840.954244 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 841.738118 meters looking forward 0.000000 meters along route # Maximum depth: 841.738118 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.767644; longitude = -117.488533; captureRadius = 10; duration = 50; initialDepth = 813.241528; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.738118 # Actual altitude: 50 # Commanded vehicle depth:800 # Seafloor depth:-841.738118 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 853.241528 meters looking forward 0.000000 meters along route # Maximum depth: 853.241528 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.767103; longitude = -117.488381; captureRadius = 10; duration = 50; initialDepth = 805.681210; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.241528 # Actual altitude: 53.241528 # Commanded vehicle depth:800 # Seafloor depth:-853.241528 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.30; MB_Bottom_Detect_Filter_Max_Range = 212.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 50.186748 meters # Minimum depth: 845.681210 meters looking forward 0.000000 meters along route # Maximum depth: 845.681210 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.766562; longitude = -117.488229; captureRadius = 10; duration = 50; initialDepth = 812.790545; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.241528 # Actual altitude: 53.241528 # Commanded vehicle depth:800 # Seafloor depth:-845.681210 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.30; MB_Bottom_Detect_Filter_Max_Range = 212.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 50.186748 meters # Minimum depth: 852.790545 meters looking forward 0.000000 meters along route # Maximum depth: 852.790545 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.766020; longitude = -117.488077; captureRadius = 10; duration = 50; initialDepth = 807.246263; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.790545 # Actual altitude: 52.790545 # Commanded vehicle depth:800 # Seafloor depth:-852.790545 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.12; MB_Bottom_Detect_Filter_Max_Range = 211.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 50.186748 meters # Minimum depth: 847.246263 meters looking forward 0.000000 meters along route # Maximum depth: 847.246263 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.765479; longitude = -117.487924; captureRadius = 10; duration = 50; initialDepth = 808.722169; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.790545 # Actual altitude: 52.790545 # Commanded vehicle depth:800 # Seafloor depth:-847.246263 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.12; MB_Bottom_Detect_Filter_Max_Range = 211.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 50.186748 meters # Minimum depth: 848.722169 meters looking forward 0.000000 meters along route # Maximum depth: 848.722169 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.764938; longitude = -117.487772; captureRadius = 10; duration = 50; initialDepth = 808.190881; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.722169 # Actual altitude: 50 # Commanded vehicle depth:800 # Seafloor depth:-848.722169 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 848.190881 meters looking forward 0.000000 meters along route # Maximum depth: 848.190881 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.764396; longitude = -117.487620; captureRadius = 10; duration = 50; initialDepth = 809.144878; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.722169 # Actual altitude: 50 # Commanded vehicle depth:800 # Seafloor depth:-848.190881 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 849.144878 meters looking forward 0.000000 meters along route # Maximum depth: 849.144878 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.763855; longitude = -117.487468; captureRadius = 10; duration = 50; initialDepth = 806.837815; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.1448779999999 # Actual altitude: 50 # Commanded vehicle depth:800 # Seafloor depth:-849.144878 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 846.837815 meters looking forward 0.000000 meters along route # Maximum depth: 846.837815 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.763314; longitude = -117.487316; captureRadius = 10; duration = 50; initialDepth = 807.332597; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.1448779999999 # Actual altitude: 50 # Commanded vehicle depth:800 # Seafloor depth:-846.837815 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 847.332597 meters looking forward 0.000000 meters along route # Maximum depth: 847.332597 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.762821; longitude = -117.487178; captureRadius = 10; duration = 50; initialDepth = 807.821741; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.332597 # Actual altitude: 50 # Commanded vehicle depth:800 # Seafloor depth:-847.332597 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 847.821741 meters looking forward 0.000000 meters along route # Maximum depth: 847.821741 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.762366; longitude = -117.487050; captureRadius = 10; duration = 50; initialDepth = 815.018588; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.821741 # Actual altitude: 50 # Commanded vehicle depth:800 # Seafloor depth:-847.821741 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 855.018588 meters looking forward 0.000000 meters along route # Maximum depth: 855.018588 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.761825; longitude = -117.486898; captureRadius = 10; duration = 50; initialDepth = 814.388700; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.018588 # Actual altitude: 55.018588 # Commanded vehicle depth:800 # Seafloor depth:-855.018588 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.07; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.01; MB_Bottom_Detect_Filter_Max_Range = 220.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 165.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 50.186748 meters # Minimum depth: 854.388700 meters looking forward 0.000000 meters along route # Maximum depth: 854.388700 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.761283; longitude = -117.486746; captureRadius = 10; duration = 50; initialDepth = 795.320317; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.018588 # Actual altitude: 55.018588 # Commanded vehicle depth:800 # Seafloor depth:-854.388700 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.07; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.01; MB_Bottom_Detect_Filter_Max_Range = 220.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 165.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 50.186748 meters # Minimum depth: 835.320317 meters looking forward 0.000000 meters along route # Maximum depth: 835.320317 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 795.320317 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.760742; longitude = -117.486594; captureRadius = 10; duration = 50; initialDepth = 797.577514; finalDepth = 795.320317; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.3887 # Actual altitude: 54.3887 # Commanded vehicle depth:795.320317 # Seafloor depth:-835.320317 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.76; MB_Bottom_Detect_Filter_Max_Range = 217.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 50.186748 meters # Minimum depth: 837.577514 meters looking forward 0.000000 meters along route # Maximum depth: 837.577514 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 797.577514 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.760201; longitude = -117.486442; captureRadius = 10; duration = 50; initialDepth = 792.123463; finalDepth = 797.577514; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:797.577514 # Seafloor depth:-837.577514 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 832.123463 meters looking forward 0.000000 meters along route # Maximum depth: 832.123463 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 792.123463 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.759659; longitude = -117.486289; captureRadius = 10; duration = 50; initialDepth = 794.921534; finalDepth = 792.123463; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:792.123463 # Seafloor depth:-832.123463 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 834.921534 meters looking forward 0.000000 meters along route # Maximum depth: 834.921534 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 794.921534 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.759118; longitude = -117.486137; captureRadius = 10; duration = 50; initialDepth = 794.915972; finalDepth = 794.921534; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:794.921534 # Seafloor depth:-834.921534 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 834.915972 meters looking forward 0.000000 meters along route # Maximum depth: 834.915972 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 794.915972 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.758577; longitude = -117.485985; captureRadius = 10; duration = 50; initialDepth = 796.093717; finalDepth = 794.915972; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:794.915972 # Seafloor depth:-834.915972 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 836.093717 meters looking forward 0.000000 meters along route # Maximum depth: 836.093717 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 796.093717 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.758035; longitude = -117.485833; captureRadius = 10; duration = 50; initialDepth = 797.573433; finalDepth = 796.093717; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:796.093717 # Seafloor depth:-836.093717 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 837.573433 meters looking forward 0.000000 meters along route # Maximum depth: 837.573433 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 797.573433 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.757494; longitude = -117.485681; captureRadius = 10; duration = 50; initialDepth = 799.987119; finalDepth = 797.573433; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:797.573433 # Seafloor depth:-837.573433 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 839.987119 meters looking forward 0.000000 meters along route # Maximum depth: 839.987119 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 799.987119 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.756952; longitude = -117.485529; captureRadius = 10; duration = 50; initialDepth = 803.597772; finalDepth = 799.987119; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:799.987119 # Seafloor depth:-839.987119 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 843.597772 meters looking forward 0.000000 meters along route # Maximum depth: 843.597772 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.756411; longitude = -117.485377; captureRadius = 10; duration = 50; initialDepth = 807.272854; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.597772 # Actual altitude: 50 # Commanded vehicle depth:800 # Seafloor depth:-843.597772 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 847.272854 meters looking forward 0.000000 meters along route # Maximum depth: 847.272854 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.755870; longitude = -117.485225; captureRadius = 10; duration = 50; initialDepth = 807.500889; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.2728540000001 # Actual altitude: 50 # Commanded vehicle depth:800 # Seafloor depth:-847.272854 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 847.500889 meters looking forward 0.000000 meters along route # Maximum depth: 847.500889 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.755328; longitude = -117.485073; captureRadius = 10; duration = 50; initialDepth = 808.162585; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.500889 # Actual altitude: 50 # Commanded vehicle depth:800 # Seafloor depth:-847.500889 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 848.162585 meters looking forward 0.000000 meters along route # Maximum depth: 848.162585 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.754845; longitude = -117.484937; captureRadius = 10; duration = 50; initialDepth = 808.431568; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.162585 # Actual altitude: 50 # Commanded vehicle depth:800 # Seafloor depth:-848.162585 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 848.431568 meters looking forward 0.000000 meters along route # Maximum depth: 848.431568 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.754381; longitude = -117.484807; captureRadius = 10; duration = 50; initialDepth = 808.361384; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.431568 # Actual altitude: 50 # Commanded vehicle depth:800 # Seafloor depth:-848.431568 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 848.361384 meters looking forward 0.000000 meters along route # Maximum depth: 848.361384 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.753840; longitude = -117.484654; captureRadius = 10; duration = 50; initialDepth = 808.228922; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.431568 # Actual altitude: 50 # Commanded vehicle depth:800 # Seafloor depth:-848.361384 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 848.228922 meters looking forward 0.000000 meters along route # Maximum depth: 848.228922 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.753298; longitude = -117.484502; captureRadius = 10; duration = 50; initialDepth = 807.447109; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.361384 # Actual altitude: 50 # Commanded vehicle depth:800 # Seafloor depth:-848.228922 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 847.447109 meters looking forward 0.000000 meters along route # Maximum depth: 847.447109 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.752757; longitude = -117.484350; captureRadius = 10; duration = 50; initialDepth = 799.018795; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.228922 # Actual altitude: 50 # Commanded vehicle depth:800 # Seafloor depth:-847.447109 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 839.018795 meters looking forward 0.000000 meters along route # Maximum depth: 839.018795 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 799.018795 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.752216; longitude = -117.484198; captureRadius = 10; duration = 50; initialDepth = 799.580748; finalDepth = 799.018795; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.447109 # Actual altitude: 50 # Commanded vehicle depth:799.018795 # Seafloor depth:-839.018795 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 839.580748 meters looking forward 0.000000 meters along route # Maximum depth: 839.580748 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 799.580748 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.751674; longitude = -117.484046; captureRadius = 10; duration = 50; initialDepth = 802.028613; finalDepth = 799.580748; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:799.580748 # Seafloor depth:-839.580748 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 842.028613 meters looking forward 0.000000 meters along route # Maximum depth: 842.028613 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.751133; longitude = -117.483894; captureRadius = 10; duration = 50; initialDepth = 798.981842; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.028613 # Actual altitude: 50 # Commanded vehicle depth:800 # Seafloor depth:-842.028613 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 838.981842 meters looking forward 0.000000 meters along route # Maximum depth: 838.981842 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 798.981842 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.750591; longitude = -117.483742; captureRadius = 10; duration = 50; initialDepth = 794.111710; finalDepth = 798.981842; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.028613 # Actual altitude: 50 # Commanded vehicle depth:798.981842 # Seafloor depth:-838.981842 # 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 = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 50.186748 meters # Minimum depth: 834.111710 meters looking forward 0.000000 meters along route # Maximum depth: 834.111710 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 794.111710 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.750083; longitude = -117.483599; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 777.279113; finalDepth = 794.111710; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:794.11171 # Seafloor depth:-834.111710 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 817.279113 meters looking forward 0.000000 meters along route # Maximum depth: 817.279113 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 777.279113 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.749644; longitude = -117.483393; captureRadius = 10; duration = 50; initialDepth = 762.733362; finalDepth = 777.279113; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:777.279113 # Seafloor depth:-817.279113 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 802.733362 meters looking forward 0.000000 meters along route # Maximum depth: 802.733362 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 762.733362 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.749182; longitude = -117.483176; captureRadius = 10; duration = 50; initialDepth = 755.631904; finalDepth = 762.733362; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:762.733362 # Seafloor depth:-802.733362 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 795.631904 meters looking forward 0.000000 meters along route # Maximum depth: 795.631904 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 755.631904 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.748697; longitude = -117.482949; captureRadius = 10; duration = 50; initialDepth = 748.193596; finalDepth = 755.631904; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:755.631904 # Seafloor depth:-795.631904 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 788.193596 meters looking forward 0.000000 meters along route # Maximum depth: 788.193596 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 748.193596 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.748155; longitude = -117.482695; captureRadius = 10; duration = 50; initialDepth = 742.489764; finalDepth = 748.193596; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:748.193596 # Seafloor depth:-788.193596 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 782.489764 meters looking forward 0.000000 meters along route # Maximum depth: 782.489764 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 742.489764 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.747614; longitude = -117.482441; captureRadius = 10; duration = 50; initialDepth = 738.189259; finalDepth = 742.489764; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:742.489764 # Seafloor depth:-782.489764 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 778.189259 meters looking forward 0.000000 meters along route # Maximum depth: 778.189259 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 738.189259 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.747073; longitude = -117.482187; captureRadius = 10; duration = 50; initialDepth = 731.963835; finalDepth = 738.189259; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:738.189259 # Seafloor depth:-778.189259 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 771.963835 meters looking forward 0.000000 meters along route # Maximum depth: 771.963835 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 731.963835 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.746531; longitude = -117.481933; captureRadius = 10; duration = 50; initialDepth = 726.453467; finalDepth = 731.963835; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:731.963835 # Seafloor depth:-771.963835 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 766.453467 meters looking forward 0.000000 meters along route # Maximum depth: 766.453467 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 726.453467 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.746111; longitude = -117.481736; captureRadius = 10; duration = 50; initialDepth = 717.578400; finalDepth = 726.453467; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:726.453467 # Seafloor depth:-766.453467 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 757.578400 meters looking forward 0.000000 meters along route # Maximum depth: 757.578400 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 717.578400 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.745584; longitude = -117.481489; captureRadius = 10; duration = 50; initialDepth = 713.421806; finalDepth = 717.578400; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:717.5784 # Seafloor depth:-757.578400 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 753.421806 meters looking forward 0.000000 meters along route # Maximum depth: 753.421806 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 713.421806 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.745042; longitude = -117.481235; captureRadius = 10; duration = 50; initialDepth = 706.984866; finalDepth = 713.421806; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:713.421806 # Seafloor depth:-753.421806 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 746.984866 meters looking forward 0.000000 meters along route # Maximum depth: 746.984866 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 706.984866 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.744501; longitude = -117.480981; captureRadius = 10; duration = 50; initialDepth = 705.260073; finalDepth = 706.984866; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:706.984866 # Seafloor depth:-746.984866 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 745.260073 meters looking forward 0.000000 meters along route # Maximum depth: 745.260073 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 705.260073 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.744064; longitude = -117.480776; captureRadius = 10; duration = 50; initialDepth = 708.181205; finalDepth = 705.260073; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:705.260073 # Seafloor depth:-745.260073 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 748.181205 meters looking forward 0.000000 meters along route # Maximum depth: 748.181205 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 708.181205 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.743554; longitude = -117.480536; captureRadius = 10; duration = 50; initialDepth = 710.567577; finalDepth = 708.181205; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:708.181205 # Seafloor depth:-748.181205 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 750.567577 meters looking forward 0.000000 meters along route # Maximum depth: 750.567577 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 710.567577 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.743012; longitude = -117.480282; captureRadius = 10; duration = 50; initialDepth = 712.438730; finalDepth = 710.567577; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:710.567577 # Seafloor depth:-750.567577 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 752.438730 meters looking forward 0.000000 meters along route # Maximum depth: 752.438730 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 712.438730 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.742471; longitude = -117.480028; captureRadius = 10; duration = 50; initialDepth = 712.553946; finalDepth = 712.438730; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:712.43873 # Seafloor depth:-752.438730 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 752.553946 meters looking forward 0.000000 meters along route # Maximum depth: 752.553946 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 712.553946 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.742016; longitude = -117.479815; captureRadius = 10; duration = 50; initialDepth = 711.620597; finalDepth = 712.553946; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:712.553946 # Seafloor depth:-752.553946 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 751.620597 meters looking forward 0.000000 meters along route # Maximum depth: 751.620597 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 711.620597 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.741524; longitude = -117.479584; captureRadius = 10; duration = 50; initialDepth = 709.436819; finalDepth = 711.620597; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:711.620597 # Seafloor depth:-751.620597 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 749.436819 meters looking forward 0.000000 meters along route # Maximum depth: 749.436819 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 709.436819 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.740982; longitude = -117.479330; captureRadius = 10; duration = 50; initialDepth = 706.955994; finalDepth = 709.436819; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:709.436819 # Seafloor depth:-749.436819 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 746.955994 meters looking forward 0.000000 meters along route # Maximum depth: 746.955994 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 706.955994 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.740441; longitude = -117.479076; captureRadius = 10; duration = 50; initialDepth = 704.568052; finalDepth = 706.955994; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:706.955994 # Seafloor depth:-746.955994 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 744.568052 meters looking forward 0.000000 meters along route # Maximum depth: 744.568052 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 704.568052 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.739969; longitude = -117.478855; captureRadius = 10; duration = 50; initialDepth = 702.884697; finalDepth = 704.568052; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:704.568052 # Seafloor depth:-744.568052 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 742.884697 meters looking forward 0.000000 meters along route # Maximum depth: 742.884697 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 702.884697 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.739493; longitude = -117.478632; captureRadius = 10; duration = 50; initialDepth = 700.117931; finalDepth = 702.884697; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:702.884697 # Seafloor depth:-742.884697 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 740.117931 meters looking forward 0.000000 meters along route # Maximum depth: 740.117931 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.117931 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.738945; longitude = -117.478375; captureRadius = 10; duration = 50; initialDepth = 697.850847; finalDepth = 700.117931; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:700.117931 # Seafloor depth:-740.117931 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 737.850847 meters looking forward 0.000000 meters along route # Maximum depth: 737.850847 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 697.850847 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.738411; longitude = -117.478124; captureRadius = 10; duration = 50; initialDepth = 693.102512; finalDepth = 697.850847; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:697.850847 # Seafloor depth:-737.850847 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 733.102512 meters looking forward 0.000000 meters along route # Maximum depth: 733.102512 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 693.102512 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.737869; longitude = -117.477870; captureRadius = 10; duration = 50; initialDepth = 688.500738; finalDepth = 693.102512; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:693.102512 # Seafloor depth:-733.102512 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 728.500738 meters looking forward 0.000000 meters along route # Maximum depth: 728.500738 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 688.500738 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.737328; longitude = -117.477616; captureRadius = 10; duration = 50; initialDepth = 688.596983; finalDepth = 688.500738; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:688.500738 # Seafloor depth:-728.500738 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 728.596983 meters looking forward 0.000000 meters along route # Maximum depth: 728.596983 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 688.596983 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.736898; longitude = -117.477414; captureRadius = 10; duration = 50; initialDepth = 688.856547; finalDepth = 688.596983; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:688.596983 # Seafloor depth:-728.596983 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 728.856547 meters looking forward 0.000000 meters along route # Maximum depth: 728.856547 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 688.856547 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.736381; longitude = -117.477172; captureRadius = 10; duration = 50; initialDepth = 690.750302; finalDepth = 688.856547; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:688.856547 # Seafloor depth:-728.856547 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 730.750302 meters looking forward 0.000000 meters along route # Maximum depth: 730.750302 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 690.750302 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.735839; longitude = -117.476918; captureRadius = 10; duration = 50; initialDepth = 693.292626; finalDepth = 690.750302; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:690.750302 # Seafloor depth:-730.750302 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 733.292626 meters looking forward 0.000000 meters along route # Maximum depth: 733.292626 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 693.292626 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.735298; longitude = -117.476664; captureRadius = 10; duration = 50; initialDepth = 695.964095; finalDepth = 693.292626; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:693.292626 # Seafloor depth:-733.292626 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 735.964095 meters looking forward 0.000000 meters along route # Maximum depth: 735.964095 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 695.964095 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.734851; longitude = -117.476454; captureRadius = 10; duration = 50; initialDepth = 697.966602; finalDepth = 695.964095; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:695.964095 # Seafloor depth:-735.964095 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 737.966602 meters looking forward 0.000000 meters along route # Maximum depth: 737.966602 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 697.966602 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.734350; longitude = -117.476219; captureRadius = 10; duration = 50; initialDepth = 700.777529; finalDepth = 697.966602; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:697.966602 # Seafloor depth:-737.966602 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 740.777529 meters looking forward 0.000000 meters along route # Maximum depth: 740.777529 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.777529 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.733809; longitude = -117.475965; captureRadius = 10; duration = 50; initialDepth = 702.470820; finalDepth = 700.777529; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:700.777529 # Seafloor depth:-740.777529 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 742.470820 meters looking forward 0.000000 meters along route # Maximum depth: 742.470820 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 702.470820 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.733268; longitude = -117.475711; captureRadius = 10; duration = 50; initialDepth = 704.562346; finalDepth = 702.470820; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:702.47082 # Seafloor depth:-742.470820 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 744.562346 meters looking forward 0.000000 meters along route # Maximum depth: 744.562346 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 704.562346 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.732803; longitude = -117.475494; captureRadius = 10; duration = 50; initialDepth = 707.519302; finalDepth = 704.562346; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:704.562346 # Seafloor depth:-744.562346 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 747.519302 meters looking forward 0.000000 meters along route # Maximum depth: 747.519302 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 707.519302 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.732320; longitude = -117.475267; captureRadius = 10; duration = 50; initialDepth = 710.580149; finalDepth = 707.519302; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:707.519302 # Seafloor depth:-747.519302 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 750.580149 meters looking forward 0.000000 meters along route # Maximum depth: 750.580149 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 710.580149 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.731779; longitude = -117.475013; captureRadius = 10; duration = 50; initialDepth = 711.009624; finalDepth = 710.580149; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:710.580149 # Seafloor depth:-750.580149 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 751.009624 meters looking forward 0.000000 meters along route # Maximum depth: 751.009624 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 711.009624 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.731238; longitude = -117.474759; captureRadius = 10; duration = 50; initialDepth = 710.978133; finalDepth = 711.009624; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:711.009624 # Seafloor depth:-751.009624 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 750.978133 meters looking forward 0.000000 meters along route # Maximum depth: 750.978133 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 710.978133 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.730696; longitude = -117.474505; captureRadius = 10; duration = 50; initialDepth = 711.033443; finalDepth = 710.978133; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:710.978133 # Seafloor depth:-750.978133 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 751.033443 meters looking forward 0.000000 meters along route # Maximum depth: 751.033443 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 711.033443 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.730155; longitude = -117.474251; captureRadius = 10; duration = 50; initialDepth = 711.961216; finalDepth = 711.033443; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:711.033443 # Seafloor depth:-751.033443 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 751.961216 meters looking forward 0.000000 meters along route # Maximum depth: 751.961216 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 711.961216 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.729732; longitude = -117.474053; captureRadius = 10; duration = 50; initialDepth = 710.789076; finalDepth = 711.961216; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:711.961216 # Seafloor depth:-751.961216 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 750.789076 meters looking forward 0.000000 meters along route # Maximum depth: 750.789076 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 710.789076 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.729207; longitude = -117.473807; captureRadius = 10; duration = 50; initialDepth = 708.325383; finalDepth = 710.789076; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:710.789076 # Seafloor depth:-750.789076 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 748.325383 meters looking forward 0.000000 meters along route # Maximum depth: 748.325383 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 708.325383 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.728709; longitude = -117.473573; captureRadius = 10; duration = 50; initialDepth = 701.411194; finalDepth = 708.325383; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:708.325383 # Seafloor depth:-748.325383 # 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 = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 50.186748 meters # Minimum depth: 741.411194 meters looking forward 0.000000 meters along route # Maximum depth: 741.411194 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 701.411194 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.728259; longitude = -117.473362; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 700.563958; finalDepth = 701.411194; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:701.411194 # Seafloor depth:-741.411194 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 740.563958 meters looking forward 0.000000 meters along route # Maximum depth: 740.563958 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.563958 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.727989; longitude = -117.473159; captureRadius = 10; duration = 50; initialDepth = 695.962958; finalDepth = 700.563958; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:700.563958 # Seafloor depth:-740.563958 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 735.962958 meters looking forward 0.000000 meters along route # Maximum depth: 735.962958 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 695.962958 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.727583; longitude = -117.472854; captureRadius = 10; duration = 50; initialDepth = 696.072573; finalDepth = 695.962958; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:695.962958 # Seafloor depth:-735.962958 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 736.072573 meters looking forward 0.000000 meters along route # Maximum depth: 736.072573 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 696.072573 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.727177; longitude = -117.472549; captureRadius = 10; duration = 50; initialDepth = 699.046297; finalDepth = 696.072573; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:696.072573 # Seafloor depth:-736.072573 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 739.046297 meters looking forward 0.000000 meters along route # Maximum depth: 739.046297 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 699.046297 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.726771; longitude = -117.472243; captureRadius = 10; duration = 50; initialDepth = 712.499283; finalDepth = 699.046297; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:699.046297 # Seafloor depth:-739.046297 # 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 = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 50.186748 meters # Minimum depth: 752.499283 meters looking forward 0.000000 meters along route # Maximum depth: 752.499283 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 712.499283 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.726275; longitude = -117.471870; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 713.650671; finalDepth = 712.499283; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:712.499283 # Seafloor depth:-752.499283 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 753.650671 meters looking forward 0.000000 meters along route # Maximum depth: 753.650671 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 713.650671 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.726230; longitude = -117.471858; captureRadius = 10; duration = 50; initialDepth = 718.007791; finalDepth = 713.650671; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:713.650671 # Seafloor depth:-753.650671 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 758.007791 meters looking forward 0.000000 meters along route # Maximum depth: 758.007791 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 718.007791 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.725689; longitude = -117.471716; captureRadius = 10; duration = 50; initialDepth = 717.239926; finalDepth = 718.007791; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:718.007791 # Seafloor depth:-758.007791 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 757.239926 meters looking forward 0.000000 meters along route # Maximum depth: 757.239926 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 717.239926 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.725147; longitude = -117.471573; captureRadius = 10; duration = 50; initialDepth = 712.562675; finalDepth = 717.239926; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:717.239926 # Seafloor depth:-757.239926 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 752.562675 meters looking forward 0.000000 meters along route # Maximum depth: 752.562675 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 712.562675 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.724606; longitude = -117.471431; captureRadius = 10; duration = 50; initialDepth = 691.337423; finalDepth = 712.562675; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:712.562675 # Seafloor depth:-752.562675 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 731.337423 meters looking forward 0.000000 meters along route # Maximum depth: 731.337423 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 691.337423 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.724065; longitude = -117.471288; captureRadius = 10; duration = 50; initialDepth = 662.354658; finalDepth = 691.337423; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:691.337423 # Seafloor depth:-731.337423 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 702.354658 meters looking forward 0.000000 meters along route # Maximum depth: 702.354658 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 662.354658 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.723523; longitude = -117.471146; captureRadius = 10; duration = 50; initialDepth = 649.497665; finalDepth = 662.354658; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:662.354658 # Seafloor depth:-702.354658 # 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 = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 50.186748 meters # Minimum depth: 689.497665 meters looking forward 0.000000 meters along route # Maximum depth: 689.497665 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 649.497665 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.723029; longitude = -117.471016; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 649.955204; finalDepth = 649.497665; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:649.497665 # Seafloor depth:-689.497665 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 690.350628 meters looking forward 0.000000 meters along route # Maximum depth: 690.350628 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 649.955204 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.723021; longitude = -117.471012; captureRadius = 10; duration = 50; initialDepth = 638.646396; finalDepth = 649.955204; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.395424000001 # Actual altitude: 50 # Commanded vehicle depth:649.955203999999 # Seafloor depth:-690.350628 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 678.646396 meters looking forward 0.000000 meters along route # Maximum depth: 678.646396 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 638.646396 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.722576; longitude = -117.470782; captureRadius = 10; duration = 50; initialDepth = 633.468501; finalDepth = 638.646396; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.395424000001 # Actual altitude: 50 # Commanded vehicle depth:638.646396 # Seafloor depth:-678.646396 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 673.468501 meters looking forward 0.000000 meters along route # Maximum depth: 673.468501 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 633.468501 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.722093; longitude = -117.470532; captureRadius = 10; duration = 50; initialDepth = 631.370229; finalDepth = 633.468501; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:633.468501 # Seafloor depth:-673.468501 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 671.370229 meters looking forward 0.000000 meters along route # Maximum depth: 671.370229 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 631.370229 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.721628; longitude = -117.470292; captureRadius = 10; duration = 50; initialDepth = 627.631052; finalDepth = 631.370229; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:631.370229 # Seafloor depth:-671.370229 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 667.631052 meters looking forward 0.000000 meters along route # Maximum depth: 667.631052 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 627.631052 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.721164; longitude = -117.470052; captureRadius = 10; duration = 50; initialDepth = 625.924161; finalDepth = 627.631052; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:627.631052 # Seafloor depth:-667.631052 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 665.924161 meters looking forward 0.000000 meters along route # Maximum depth: 665.924161 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 625.924161 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.720681; longitude = -117.469802; captureRadius = 10; duration = 50; initialDepth = 619.043302; finalDepth = 625.924161; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:625.924161 # Seafloor depth:-665.924161 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 659.043302 meters looking forward 0.000000 meters along route # Maximum depth: 659.043302 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 619.043302 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.720140; longitude = -117.469522; captureRadius = 10; duration = 50; initialDepth = 617.111075; finalDepth = 619.043302; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:619.043302 # Seafloor depth:-659.043302 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 657.111075 meters looking forward 0.000000 meters along route # Maximum depth: 657.111075 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 617.111075 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.719617; longitude = -117.469251; captureRadius = 10; duration = 50; initialDepth = 615.035249; finalDepth = 617.111075; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:617.111075 # Seafloor depth:-657.111075 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 655.035249 meters looking forward 0.000000 meters along route # Maximum depth: 655.035249 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 615.035249 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.719192; longitude = -117.469032; captureRadius = 10; duration = 50; initialDepth = 611.543385; finalDepth = 615.035249; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:615.035249 # Seafloor depth:-655.035249 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 651.543385 meters looking forward 0.000000 meters along route # Maximum depth: 651.543385 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 611.543385 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.718689; longitude = -117.468771; captureRadius = 10; duration = 50; initialDepth = 609.516334; finalDepth = 611.543385; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:611.543385 # Seafloor depth:-651.543385 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 649.516334 meters looking forward 0.000000 meters along route # Maximum depth: 649.516334 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 609.516334 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.718245; longitude = -117.468542; captureRadius = 10; duration = 50; initialDepth = 602.661771; finalDepth = 609.516334; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:609.516334 # Seafloor depth:-649.516334 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 642.661771 meters looking forward 0.000000 meters along route # Maximum depth: 642.661771 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 602.661771 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.717703; longitude = -117.468262; captureRadius = 10; duration = 50; initialDepth = 598.098969; finalDepth = 602.661771; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:602.661771 # Seafloor depth:-642.661771 # 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 = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 50.186748 meters # Minimum depth: 638.098969 meters looking forward 0.000000 meters along route # Maximum depth: 638.098969 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 598.098969 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.717257; longitude = -117.468031; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 597.007910; finalDepth = 598.098969; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:598.098969 # Seafloor depth:-638.098969 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 637.007910 meters looking forward 0.000000 meters along route # Maximum depth: 637.007910 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 597.007910 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.716983; longitude = -117.467811; captureRadius = 10; duration = 50; initialDepth = 593.974075; finalDepth = 597.007910; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:597.00791 # Seafloor depth:-637.007910 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 633.974075 meters looking forward 0.000000 meters along route # Maximum depth: 633.974075 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 593.974075 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.716585; longitude = -117.467491; captureRadius = 10; duration = 50; initialDepth = 591.974845; finalDepth = 593.974075; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:593.974075 # Seafloor depth:-633.974075 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 631.974845 meters looking forward 0.000000 meters along route # Maximum depth: 631.974845 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 591.974845 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.716187; longitude = -117.467171; captureRadius = 10; duration = 50; initialDepth = 592.535615; finalDepth = 591.974845; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:591.974845 # Seafloor depth:-631.974845 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 632.535615 meters looking forward 0.000000 meters along route # Maximum depth: 632.535615 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 592.535615 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.715789; longitude = -117.466851; captureRadius = 10; duration = 50; initialDepth = 593.672841; finalDepth = 592.535615; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:592.535615 # Seafloor depth:-632.535615 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 633.672841 meters looking forward 0.000000 meters along route # Maximum depth: 633.672841 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 593.672841 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.715391; longitude = -117.466531; captureRadius = 10; duration = 50; initialDepth = 589.417612; finalDepth = 593.672841; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:593.672841 # Seafloor depth:-633.672841 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 629.417612 meters looking forward 0.000000 meters along route # Maximum depth: 629.417612 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 589.417612 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.714993; longitude = -117.466210; captureRadius = 10; duration = 50; initialDepth = 588.079564; finalDepth = 589.417612; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:589.417612 # Seafloor depth:-629.417612 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 628.079564 meters looking forward 0.000000 meters along route # Maximum depth: 628.079564 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 588.079564 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.714591; longitude = -117.465887; captureRadius = 10; duration = 50; initialDepth = 590.098383; finalDepth = 588.079564; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:588.079564 # Seafloor depth:-628.079564 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 630.098383 meters looking forward 0.000000 meters along route # Maximum depth: 630.098383 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 590.098383 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.714185; longitude = -117.465561; captureRadius = 10; duration = 50; initialDepth = 585.289773; finalDepth = 590.098383; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:590.098383 # Seafloor depth:-630.098383 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 625.289773 meters looking forward 0.000000 meters along route # Maximum depth: 625.289773 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 585.289773 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.713779; longitude = -117.465234; captureRadius = 10; duration = 50; initialDepth = 583.814465; finalDepth = 585.289773; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:585.289773 # Seafloor depth:-625.289773 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 623.814465 meters looking forward 0.000000 meters along route # Maximum depth: 623.814465 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 583.814465 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.713373; longitude = -117.464908; captureRadius = 10; duration = 50; initialDepth = 581.054133; finalDepth = 583.814465; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:583.814465 # Seafloor depth:-623.814465 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 621.054133 meters looking forward 0.000000 meters along route # Maximum depth: 621.054133 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 581.054133 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.712967; longitude = -117.464581; captureRadius = 10; duration = 50; initialDepth = 578.792574; finalDepth = 581.054133; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:581.054133 # Seafloor depth:-621.054133 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 618.792574 meters looking forward 0.000000 meters along route # Maximum depth: 618.792574 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 578.792574 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.712560; longitude = -117.464255; captureRadius = 10; duration = 50; initialDepth = 576.438515; finalDepth = 578.792574; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:578.792574 # Seafloor depth:-618.792574 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 616.438515 meters looking forward 0.000000 meters along route # Maximum depth: 616.438515 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 576.438515 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.712154; longitude = -117.463928; captureRadius = 10; duration = 50; initialDepth = 574.071438; finalDepth = 576.438515; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:576.438515 # Seafloor depth:-616.438515 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 614.071438 meters looking forward 0.000000 meters along route # Maximum depth: 614.071438 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 574.071438 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.711748; longitude = -117.463602; captureRadius = 10; duration = 50; initialDepth = 573.092590; finalDepth = 574.071438; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:574.071438 # Seafloor depth:-614.071438 # 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 = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 22 # Segment length 50.186748 meters # Minimum depth: 613.092590 meters looking forward 0.000000 meters along route # Maximum depth: 613.092590 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 573.092590 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.711245; longitude = -117.463197; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 573.668556; finalDepth = 573.092590; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:573.09259 # Seafloor depth:-613.092590 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 613.668556 meters looking forward 0.000000 meters along route # Maximum depth: 613.668556 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 573.668556 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.710936; longitude = -117.462793; captureRadius = 10; duration = 50; initialDepth = 575.243426; finalDepth = 573.668556; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:573.668556 # Seafloor depth:-613.668556 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 615.243426 meters looking forward 0.000000 meters along route # Maximum depth: 615.243426 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 575.243426 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.710613; longitude = -117.462369; captureRadius = 10; duration = 50; initialDepth = 574.353302; finalDepth = 575.243426; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:575.243426 # Seafloor depth:-615.243426 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 614.353302 meters looking forward 0.000000 meters along route # Maximum depth: 614.353302 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 574.353302 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.710246; longitude = -117.461889; captureRadius = 10; duration = 50; initialDepth = 573.719880; finalDepth = 574.353302; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:574.353302 # Seafloor depth:-614.353302 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 613.719880 meters looking forward 0.000000 meters along route # Maximum depth: 613.719880 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 573.719880 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.709854; longitude = -117.461376; captureRadius = 10; duration = 50; initialDepth = 574.368363; finalDepth = 573.719880; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:573.71988 # Seafloor depth:-613.719880 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 614.368363 meters looking forward 0.000000 meters along route # Maximum depth: 614.368363 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 574.368363 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.709512; longitude = -117.460929; captureRadius = 10; duration = 50; initialDepth = 572.218651; finalDepth = 574.368363; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:574.368363 # Seafloor depth:-614.368363 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 612.218651 meters looking forward 0.000000 meters along route # Maximum depth: 612.218651 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 572.218651 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.709145; longitude = -117.460448; captureRadius = 10; duration = 50; initialDepth = 571.187905; finalDepth = 572.218651; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:572.218651 # Seafloor depth:-612.218651 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 611.187905 meters looking forward 0.000000 meters along route # Maximum depth: 611.187905 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 571.187905 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.708771; longitude = -117.459958; captureRadius = 10; duration = 50; initialDepth = 569.343645; finalDepth = 571.187905; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:571.187905 # Seafloor depth:-611.187905 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 609.343645 meters looking forward 0.000000 meters along route # Maximum depth: 609.343645 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 569.343645 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.708365; longitude = -117.459427; captureRadius = 10; duration = 50; initialDepth = 566.272649; finalDepth = 569.343645; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:569.343645 # Seafloor depth:-609.343645 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 606.272649 meters looking forward 0.000000 meters along route # Maximum depth: 606.272649 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 566.272649 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.708045; longitude = -117.459008; captureRadius = 10; duration = 50; initialDepth = 564.171124; finalDepth = 566.272649; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:566.272649 # Seafloor depth:-606.272649 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 604.171124 meters looking forward 0.000000 meters along route # Maximum depth: 604.171124 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 564.171124 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.707678; longitude = -117.458528; captureRadius = 10; duration = 50; initialDepth = 563.468471; finalDepth = 564.171124; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:564.171124 # Seafloor depth:-604.171124 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 603.468471 meters looking forward 0.000000 meters along route # Maximum depth: 603.468471 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 563.468471 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.707282; longitude = -117.458009; captureRadius = 10; duration = 50; initialDepth = 562.881479; finalDepth = 563.468471; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:563.468471 # Seafloor depth:-603.468471 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 602.881479 meters looking forward 0.000000 meters along route # Maximum depth: 602.881479 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 562.881479 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.706945; longitude = -117.457567; captureRadius = 10; duration = 50; initialDepth = 559.075463; finalDepth = 562.881479; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:562.881479 # Seafloor depth:-602.881479 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 599.075463 meters looking forward 0.000000 meters along route # Maximum depth: 599.075463 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 559.075463 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.706578; longitude = -117.457087; captureRadius = 10; duration = 50; initialDepth = 553.782364; finalDepth = 559.075463; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:559.075463 # Seafloor depth:-599.075463 # 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 = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 50.186748 meters # Minimum depth: 593.782364 meters looking forward 0.000000 meters along route # Maximum depth: 593.782364 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 553.782364 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.706195; longitude = -117.456586; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 556.097327; finalDepth = 553.782364; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:553.782364 # Seafloor depth:-593.782364 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 596.097327 meters looking forward 0.000000 meters along route # Maximum depth: 596.097327 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 556.097327 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.706121; longitude = -117.455967; captureRadius = 10; duration = 50; initialDepth = 558.649650; finalDepth = 556.097327; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:556.097327 # Seafloor depth:-596.097327 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 598.649650 meters looking forward 0.000000 meters along route # Maximum depth: 598.649650 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 558.649650 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.706045; longitude = -117.455327; captureRadius = 10; duration = 50; initialDepth = 556.416627; finalDepth = 558.649650; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:558.64965 # Seafloor depth:-598.649650 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 596.416627 meters looking forward 0.000000 meters along route # Maximum depth: 596.416627 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 556.416627 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.705968; longitude = -117.454686; captureRadius = 10; duration = 50; initialDepth = 558.788890; finalDepth = 556.416627; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:556.416627 # Seafloor depth:-596.416627 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 598.788890 meters looking forward 0.000000 meters along route # Maximum depth: 598.788890 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 558.788890 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.705892; longitude = -117.454046; captureRadius = 10; duration = 50; initialDepth = 557.726787; finalDepth = 558.788890; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:558.78889 # Seafloor depth:-598.788890 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 597.726787 meters looking forward 0.000000 meters along route # Maximum depth: 597.726787 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 557.726787 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.705815; longitude = -117.453406; captureRadius = 10; duration = 50; initialDepth = 558.174530; finalDepth = 557.726787; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:557.726787 # Seafloor depth:-597.726787 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 598.174530 meters looking forward 0.000000 meters along route # Maximum depth: 598.174530 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 558.174530 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.705739; longitude = -117.452766; captureRadius = 10; duration = 50; initialDepth = 555.722860; finalDepth = 558.174530; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:558.17453 # Seafloor depth:-598.174530 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 595.722860 meters looking forward 0.000000 meters along route # Maximum depth: 595.722860 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 555.722860 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.705658; longitude = -117.452087; captureRadius = 10; duration = 50; initialDepth = 555.809621; finalDepth = 555.722860; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:555.72286 # Seafloor depth:-595.722860 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 595.809621 meters looking forward 0.000000 meters along route # Maximum depth: 595.809621 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 555.809621 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.705586; longitude = -117.451485; captureRadius = 10; duration = 50; initialDepth = 553.105034; finalDepth = 555.809621; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:555.809621 # Seafloor depth:-595.809621 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 593.105034 meters looking forward 0.000000 meters along route # Maximum depth: 593.105034 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 553.105034 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.705523; longitude = -117.450953; captureRadius = 10; duration = 50; initialDepth = 549.741766; finalDepth = 553.105034; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:553.105034 # Seafloor depth:-593.105034 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 589.741766 meters looking forward 0.000000 meters along route # Maximum depth: 589.741766 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 549.741766 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.705453; longitude = -117.450365; captureRadius = 10; duration = 50; initialDepth = 548.254120; finalDepth = 549.741766; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:549.741766 # Seafloor depth:-589.741766 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 588.254120 meters looking forward 0.000000 meters along route # Maximum depth: 588.254120 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 548.254120 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.705387; longitude = -117.449819; captureRadius = 10; duration = 50; initialDepth = 547.012142; finalDepth = 548.254120; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:548.25412 # Seafloor depth:-588.254120 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 587.012142 meters looking forward 0.000000 meters along route # Maximum depth: 587.012142 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 547.012142 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.705319; longitude = -117.449244; captureRadius = 10; duration = 50; initialDepth = 545.706960; finalDepth = 547.012142; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:547.012142 # Seafloor depth:-587.012142 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 585.706960 meters looking forward 0.000000 meters along route # Maximum depth: 585.706960 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 545.706960 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.705252; longitude = -117.448685; captureRadius = 10; duration = 50; initialDepth = 544.414024; finalDepth = 545.706960; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:545.70696 # Seafloor depth:-585.706960 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 584.414024 meters looking forward 0.000000 meters along route # Maximum depth: 584.414024 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 544.414024 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.705185; longitude = -117.448124; captureRadius = 10; duration = 50; initialDepth = 543.945502; finalDepth = 544.414024; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:544.414024 # Seafloor depth:-584.414024 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 583.945502 meters looking forward 0.000000 meters along route # Maximum depth: 583.945502 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 543.945502 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.705109; longitude = -117.447484; captureRadius = 10; duration = 50; initialDepth = 542.973728; finalDepth = 543.945502; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:543.945502 # Seafloor depth:-583.945502 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 582.973728 meters looking forward 0.000000 meters along route # Maximum depth: 582.973728 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 542.973728 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.705032; longitude = -117.446844; captureRadius = 10; duration = 50; initialDepth = 540.685948; finalDepth = 542.973728; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:542.973728 # Seafloor depth:-582.973728 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 580.685948 meters looking forward 0.000000 meters along route # Maximum depth: 580.685948 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 540.685948 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.704956; longitude = -117.446203; captureRadius = 10; duration = 50; initialDepth = 538.312523; finalDepth = 540.685948; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:540.685948 # Seafloor depth:-580.685948 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 578.312523 meters looking forward 0.000000 meters along route # Maximum depth: 578.312523 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 538.312523 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.704879; longitude = -117.445563; captureRadius = 10; duration = 50; initialDepth = 536.463455; finalDepth = 538.312523; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:538.312523 # Seafloor depth:-578.312523 # 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 = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 50.186748 meters # Minimum depth: 576.463455 meters looking forward 0.000000 meters along route # Maximum depth: 576.463455 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 536.463455 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.704812; longitude = -117.444998; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 533.335237; finalDepth = 536.463455; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:536.463455 # Seafloor depth:-576.463455 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 573.335237 meters looking forward 0.000000 meters along route # Maximum depth: 573.335237 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 533.335237 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.704853; longitude = -117.444443; captureRadius = 10; duration = 50; initialDepth = 530.820670; finalDepth = 533.335237; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:533.335237 # Seafloor depth:-573.335237 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 570.820670 meters looking forward 0.000000 meters along route # Maximum depth: 570.820670 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 530.820670 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.704901; longitude = -117.443803; captureRadius = 10; duration = 50; initialDepth = 525.921142; finalDepth = 530.820670; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:530.82067 # Seafloor depth:-570.820670 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 565.921142 meters looking forward 0.000000 meters along route # Maximum depth: 565.921142 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 525.921142 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.704949; longitude = -117.443162; captureRadius = 10; duration = 50; initialDepth = 522.424540; finalDepth = 525.921142; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:525.921142 # Seafloor depth:-565.921142 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 562.424540 meters looking forward 0.000000 meters along route # Maximum depth: 562.424540 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 522.424540 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.704996; longitude = -117.442522; captureRadius = 10; duration = 50; initialDepth = 520.684897; finalDepth = 522.424540; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:522.42454 # Seafloor depth:-562.424540 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 560.684897 meters looking forward 0.000000 meters along route # Maximum depth: 560.684897 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 520.684897 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.705044; longitude = -117.441882; captureRadius = 10; duration = 50; initialDepth = 518.981324; finalDepth = 520.684897; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:520.684897 # Seafloor depth:-560.684897 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 558.981324 meters looking forward 0.000000 meters along route # Maximum depth: 558.981324 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 518.981324 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.705091; longitude = -117.441242; captureRadius = 10; duration = 50; initialDepth = 518.176259; finalDepth = 518.981324; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:518.981324 # Seafloor depth:-558.981324 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 558.176259 meters looking forward 0.000000 meters along route # Maximum depth: 558.176259 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 518.176259 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.705139; longitude = -117.440601; captureRadius = 10; duration = 50; initialDepth = 515.869246; finalDepth = 518.176259; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:518.176259 # Seafloor depth:-558.176259 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 555.869246 meters looking forward 0.000000 meters along route # Maximum depth: 555.869246 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 515.869246 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.705187; longitude = -117.439961; captureRadius = 10; duration = 50; initialDepth = 516.187738; finalDepth = 515.869246; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:515.869246 # Seafloor depth:-555.869246 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 556.187738 meters looking forward 0.000000 meters along route # Maximum depth: 556.187738 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 516.187738 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.705234; longitude = -117.439321; captureRadius = 10; duration = 50; initialDepth = 511.857925; finalDepth = 516.187738; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:516.187738 # Seafloor depth:-556.187738 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 551.857925 meters looking forward 0.000000 meters along route # Maximum depth: 551.857925 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 511.857925 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.705282; longitude = -117.438681; captureRadius = 10; duration = 50; initialDepth = 507.432100; finalDepth = 511.857925; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:511.857925 # Seafloor depth:-551.857925 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 547.432100 meters looking forward 0.000000 meters along route # Maximum depth: 547.432100 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 507.432100 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.705330; longitude = -117.438041; captureRadius = 10; duration = 50; initialDepth = 506.428632; finalDepth = 507.432100; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:507.4321 # Seafloor depth:-547.432100 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 546.428632 meters looking forward 0.000000 meters along route # Maximum depth: 546.428632 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 506.428632 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.705377; longitude = -117.437400; captureRadius = 10; duration = 50; initialDepth = 504.461150; finalDepth = 506.428632; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:506.428632 # Seafloor depth:-546.428632 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 544.461150 meters looking forward 0.000000 meters along route # Maximum depth: 544.461150 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 504.461150 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.705425; longitude = -117.436760; captureRadius = 10; duration = 50; initialDepth = 503.601715; finalDepth = 504.461150; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:504.46115 # Seafloor depth:-544.461150 # 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 = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_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 19 # Segment length 50.186748 meters # Minimum depth: 543.601715 meters looking forward 0.000000 meters along route # Maximum depth: 543.601715 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 503.601715 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.705473; longitude = -117.436112; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 505.065405; finalDepth = 503.601715; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:503.601715 # Seafloor depth:-543.601715 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 545.065405 meters looking forward 0.000000 meters along route # Maximum depth: 545.065405 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 505.065405 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.705793; longitude = -117.436145; captureRadius = 10; duration = 50; initialDepth = 508.116488; finalDepth = 505.065405; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:505.065405 # Seafloor depth:-545.065405 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 548.116488 meters looking forward 0.000000 meters along route # Maximum depth: 548.116488 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 508.116488 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.706335; longitude = -117.436200; captureRadius = 10; duration = 50; initialDepth = 511.099360; finalDepth = 508.116488; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:508.116488 # Seafloor depth:-548.116488 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 551.099360 meters looking forward 0.000000 meters along route # Maximum depth: 551.099360 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 511.099360 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.706876; longitude = -117.436255; captureRadius = 10; duration = 50; initialDepth = 508.062742; finalDepth = 511.099360; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:511.09936 # Seafloor depth:-551.099360 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 548.062742 meters looking forward 0.000000 meters along route # Maximum depth: 548.062742 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 508.062742 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.707418; longitude = -117.436311; captureRadius = 10; duration = 50; initialDepth = 505.462528; finalDepth = 508.062742; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:508.062742 # Seafloor depth:-548.062742 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 545.462528 meters looking forward 0.000000 meters along route # Maximum depth: 545.462528 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 505.462528 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.707959; longitude = -117.436366; captureRadius = 10; duration = 50; initialDepth = 503.296575; finalDepth = 505.462528; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:505.462528 # Seafloor depth:-545.462528 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 543.296575 meters looking forward 0.000000 meters along route # Maximum depth: 543.296575 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 503.296575 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.708500; longitude = -117.436421; captureRadius = 10; duration = 50; initialDepth = 502.512115; finalDepth = 503.296575; 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:503.296575 # Seafloor depth:-543.296575 # 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 = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 50.186748 meters # Minimum depth: 542.512115 meters looking forward 0.000000 meters along route # Maximum depth: 542.512115 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 502.512115 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.708960; longitude = -117.436468; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 503.516091; finalDepth = 502.512115; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:502.512115 # Seafloor depth:-542.512115 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 543.516091 meters looking forward 0.000000 meters along route # Maximum depth: 543.516091 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 503.516091 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.708929; longitude = -117.436920; captureRadius = 10; duration = 50; initialDepth = 503.126002; finalDepth = 503.516091; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:503.516091 # Seafloor depth:-543.516091 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 543.126002 meters looking forward 0.000000 meters along route # Maximum depth: 543.126002 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 503.126002 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.708886; longitude = -117.437560; captureRadius = 10; duration = 50; initialDepth = 503.915628; finalDepth = 503.126002; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:503.126002 # Seafloor depth:-543.126002 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 543.915628 meters looking forward 0.000000 meters along route # Maximum depth: 543.915628 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 503.915628 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.708842; longitude = -117.438201; captureRadius = 10; duration = 50; initialDepth = 507.590281; finalDepth = 503.915628; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:503.915628 # Seafloor depth:-543.915628 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 547.590281 meters looking forward 0.000000 meters along route # Maximum depth: 547.590281 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 507.590281 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.708798; longitude = -117.438841; captureRadius = 10; duration = 50; initialDepth = 510.836816; finalDepth = 507.590281; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:507.590281 # Seafloor depth:-547.590281 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 550.836816 meters looking forward 0.000000 meters along route # Maximum depth: 550.836816 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 510.836816 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.708755; longitude = -117.439481; captureRadius = 10; duration = 50; initialDepth = 513.593715; finalDepth = 510.836816; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:510.836816 # Seafloor depth:-550.836816 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 553.593715 meters looking forward 0.000000 meters along route # Maximum depth: 553.593715 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 513.593715 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.708711; longitude = -117.440121; captureRadius = 10; duration = 50; initialDepth = 516.361993; finalDepth = 513.593715; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:513.593715 # Seafloor depth:-553.593715 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 556.361993 meters looking forward 0.000000 meters along route # Maximum depth: 556.361993 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 516.361993 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.708667; longitude = -117.440761; captureRadius = 10; duration = 50; initialDepth = 518.844620; finalDepth = 516.361993; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:516.361993 # Seafloor depth:-556.361993 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 558.844620 meters looking forward 0.000000 meters along route # Maximum depth: 558.844620 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 518.844620 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.708624; longitude = -117.441402; captureRadius = 10; duration = 50; initialDepth = 523.138269; finalDepth = 518.844620; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:518.84462 # Seafloor depth:-558.844620 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 563.138269 meters looking forward 0.000000 meters along route # Maximum depth: 563.138269 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 523.138269 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.708580; longitude = -117.442042; captureRadius = 10; duration = 50; initialDepth = 527.285275; finalDepth = 523.138269; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:523.138269 # Seafloor depth:-563.138269 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 567.285275 meters looking forward 0.000000 meters along route # Maximum depth: 567.285275 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 527.285275 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.708536; longitude = -117.442682; captureRadius = 10; duration = 50; initialDepth = 532.759228; finalDepth = 527.285275; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:527.285275 # Seafloor depth:-567.285275 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 572.759228 meters looking forward 0.000000 meters along route # Maximum depth: 572.759228 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 532.759228 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.708493; longitude = -117.443322; captureRadius = 10; duration = 50; initialDepth = 536.549990; finalDepth = 532.759228; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:532.759228 # Seafloor depth:-572.759228 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 576.549990 meters looking forward 0.000000 meters along route # Maximum depth: 576.549990 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 536.549990 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.708449; longitude = -117.443963; captureRadius = 10; duration = 50; initialDepth = 537.574491; finalDepth = 536.549990; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:536.54999 # Seafloor depth:-576.549990 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 577.574491 meters looking forward 0.000000 meters along route # Maximum depth: 577.574491 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 537.574491 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.708405; longitude = -117.444603; captureRadius = 10; duration = 50; initialDepth = 537.785400; finalDepth = 537.574491; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:537.574491 # Seafloor depth:-577.574491 # 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 = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 50.186748 meters # Minimum depth: 577.785400 meters looking forward 0.000000 meters along route # Maximum depth: 577.785400 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 537.785400 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.708359; longitude = -117.445283; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 537.295830; finalDepth = 537.785400; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:537.7854 # Seafloor depth:-577.785400 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 577.295830 meters looking forward 0.000000 meters along route # Maximum depth: 577.295830 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 537.295830 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.708404; longitude = -117.445723; captureRadius = 10; duration = 50; initialDepth = 537.791148; finalDepth = 537.295830; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:537.29583 # Seafloor depth:-577.295830 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 577.791148 meters looking forward 0.000000 meters along route # Maximum depth: 577.791148 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 537.791148 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.708471; longitude = -117.446363; captureRadius = 10; duration = 50; initialDepth = 534.782626; finalDepth = 537.791148; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:537.791148 # Seafloor depth:-577.791148 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 574.782626 meters looking forward 0.000000 meters along route # Maximum depth: 574.782626 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 534.782626 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.708537; longitude = -117.447004; captureRadius = 10; duration = 50; initialDepth = 534.779948; finalDepth = 534.782626; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:534.782626 # Seafloor depth:-574.782626 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 574.779948 meters looking forward 0.000000 meters along route # Maximum depth: 574.779948 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 534.779948 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.708603; longitude = -117.447644; captureRadius = 10; duration = 50; initialDepth = 537.804033; finalDepth = 534.779948; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:534.779948 # Seafloor depth:-574.779948 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 577.804033 meters looking forward 0.000000 meters along route # Maximum depth: 577.804033 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 537.804033 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.708669; longitude = -117.448284; captureRadius = 10; duration = 50; initialDepth = 540.671858; finalDepth = 537.804033; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:537.804033 # Seafloor depth:-577.804033 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 580.671858 meters looking forward 0.000000 meters along route # Maximum depth: 580.671858 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 540.671858 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.708735; longitude = -117.448924; captureRadius = 10; duration = 50; initialDepth = 542.624121; finalDepth = 540.671858; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:540.671858 # Seafloor depth:-580.671858 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 582.624121 meters looking forward 0.000000 meters along route # Maximum depth: 582.624121 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 542.624121 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.708801; longitude = -117.449565; captureRadius = 10; duration = 50; initialDepth = 544.321623; finalDepth = 542.624121; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:542.624121 # Seafloor depth:-582.624121 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 584.321623 meters looking forward 0.000000 meters along route # Maximum depth: 584.321623 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 544.321623 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.708867; longitude = -117.450205; captureRadius = 10; duration = 50; initialDepth = 543.378324; finalDepth = 544.321623; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:544.321623 # Seafloor depth:-584.321623 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 583.378324 meters looking forward 0.000000 meters along route # Maximum depth: 583.378324 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 543.378324 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.708934; longitude = -117.450845; captureRadius = 10; duration = 50; initialDepth = 543.276864; finalDepth = 543.378324; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:543.378324 # Seafloor depth:-583.378324 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 583.276864 meters looking forward 0.000000 meters along route # Maximum depth: 583.276864 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 543.276864 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.709000; longitude = -117.451485; captureRadius = 10; duration = 50; initialDepth = 546.119233; finalDepth = 543.276864; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:543.276864 # Seafloor depth:-583.276864 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 586.119233 meters looking forward 0.000000 meters along route # Maximum depth: 586.119233 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 546.119233 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.709066; longitude = -117.452125; captureRadius = 10; duration = 50; initialDepth = 547.225200; finalDepth = 546.119233; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:546.119233 # Seafloor depth:-586.119233 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 587.225200 meters looking forward 0.000000 meters along route # Maximum depth: 587.225200 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 547.225200 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.709132; longitude = -117.452766; captureRadius = 10; duration = 50; initialDepth = 550.335291; finalDepth = 547.225200; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:547.2252 # Seafloor depth:-587.225200 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 590.335291 meters looking forward 0.000000 meters along route # Maximum depth: 590.335291 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 550.335291 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.709198; longitude = -117.453406; captureRadius = 10; duration = 50; initialDepth = 554.138170; finalDepth = 550.335291; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:550.335291 # Seafloor depth:-590.335291 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 594.138170 meters looking forward 0.000000 meters along route # Maximum depth: 594.138170 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 554.138170 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.709264; longitude = -117.454046; captureRadius = 10; duration = 50; initialDepth = 557.334717; finalDepth = 554.138170; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:554.13817 # Seafloor depth:-594.138170 # 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 = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 50.186748 meters # Minimum depth: 597.334717 meters looking forward 0.000000 meters along route # Maximum depth: 597.334717 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 557.334717 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.709321; longitude = -117.454595; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 557.500775; finalDepth = 557.334717; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:557.334717 # Seafloor depth:-597.334717 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 50.186748 meters # Minimum depth: 597.500775 meters looking forward 0.000000 meters along route # Maximum depth: 597.500775 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 557.500775 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.709387; longitude = -117.454686; captureRadius = 10; duration = 50; initialDepth = 558.819230; finalDepth = 557.500775; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:557.500775 # Seafloor depth:-597.500775 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 50.186748 meters # Minimum depth: 598.819230 meters looking forward 0.000000 meters along route # Maximum depth: 598.819230 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 558.819230 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.709734; longitude = -117.455167; captureRadius = 10; duration = 50; initialDepth = 560.373796; finalDepth = 558.819230; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:558.81923 # Seafloor depth:-598.819230 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 50.186748 meters # Minimum depth: 600.373796 meters looking forward 0.000000 meters along route # Maximum depth: 600.373796 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 560.373796 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.710124; longitude = -117.455706; captureRadius = 10; duration = 50; initialDepth = 560.792291; finalDepth = 560.373796; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:560.373796 # Seafloor depth:-600.373796 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 50.186748 meters # Minimum depth: 600.792291 meters looking forward 0.000000 meters along route # Maximum depth: 600.792291 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 560.792291 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.710429; longitude = -117.456127; captureRadius = 10; duration = 50; initialDepth = 561.699566; finalDepth = 560.792291; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:560.792291 # Seafloor depth:-600.792291 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 50.186748 meters # Minimum depth: 601.699566 meters looking forward 0.000000 meters along route # Maximum depth: 601.699566 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 561.699566 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.710801; longitude = -117.456641; captureRadius = 10; duration = 50; initialDepth = 563.403423; finalDepth = 561.699566; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:561.699566 # Seafloor depth:-601.699566 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 50.186748 meters # Minimum depth: 603.403423 meters looking forward 0.000000 meters along route # Maximum depth: 603.403423 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 563.403423 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.711124; longitude = -117.457087; captureRadius = 10; duration = 50; initialDepth = 566.859194; finalDepth = 563.403423; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:563.403423 # Seafloor depth:-603.403423 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 50.186748 meters # Minimum depth: 606.859194 meters looking forward 0.000000 meters along route # Maximum depth: 606.859194 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 566.859194 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.711478; longitude = -117.457577; captureRadius = 10; duration = 50; initialDepth = 569.914427; finalDepth = 566.859194; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:566.859194 # Seafloor depth:-606.859194 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 50.186748 meters # Minimum depth: 609.914427 meters looking forward 0.000000 meters along route # Maximum depth: 609.914427 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 569.914427 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.711818; longitude = -117.458048; captureRadius = 10; duration = 50; initialDepth = 573.919871; finalDepth = 569.914427; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:569.914427 # Seafloor depth:-609.914427 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 50.186748 meters # Minimum depth: 613.919871 meters looking forward 0.000000 meters along route # Maximum depth: 613.919871 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 573.919871 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.712166; longitude = -117.458528; captureRadius = 10; duration = 50; initialDepth = 578.781606; finalDepth = 573.919871; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:573.919871 # Seafloor depth:-613.919871 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 50.186748 meters # Minimum depth: 618.781606 meters looking forward 0.000000 meters along route # Maximum depth: 618.781606 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 578.781606 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.712560; longitude = -117.459074; captureRadius = 10; duration = 50; initialDepth = 579.896305; finalDepth = 578.781606; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:578.781606 # Seafloor depth:-618.781606 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 50.186748 meters # Minimum depth: 619.896305 meters looking forward 0.000000 meters along route # Maximum depth: 619.896305 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 579.896305 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.712860; longitude = -117.459488; captureRadius = 10; duration = 50; initialDepth = 582.653534; finalDepth = 579.896305; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:579.896305 # Seafloor depth:-619.896305 # 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 = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 50.186748 meters # Minimum depth: 622.653534 meters looking forward 0.000000 meters along route # Maximum depth: 622.653534 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 582.653534 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.713229; longitude = -117.459998; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 582.588646; finalDepth = 582.653534; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:582.653534 # Seafloor depth:-622.653534 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 622.588646 meters looking forward 0.000000 meters along route # Maximum depth: 622.588646 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 582.588646 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.713399; longitude = -117.460128; captureRadius = 10; duration = 50; initialDepth = 583.162026; finalDepth = 582.588646; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:582.588646 # Seafloor depth:-622.588646 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 623.162026 meters looking forward 0.000000 meters along route # Maximum depth: 623.162026 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 583.162026 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.713779; longitude = -117.460419; captureRadius = 10; duration = 50; initialDepth = 585.863915; finalDepth = 583.162026; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:583.162026 # Seafloor depth:-623.162026 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 625.863915 meters looking forward 0.000000 meters along route # Maximum depth: 625.863915 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 585.863915 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.714185; longitude = -117.460731; captureRadius = 10; duration = 50; initialDepth = 586.366586; finalDepth = 585.863915; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:585.863915 # Seafloor depth:-625.863915 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 626.366586 meters looking forward 0.000000 meters along route # Maximum depth: 626.366586 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 586.366586 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.714591; longitude = -117.461042; captureRadius = 10; duration = 50; initialDepth = 590.162215; finalDepth = 586.366586; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:586.366586 # Seafloor depth:-626.366586 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 630.162215 meters looking forward 0.000000 meters along route # Maximum depth: 630.162215 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 590.162215 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.714997; longitude = -117.461353; captureRadius = 10; duration = 50; initialDepth = 589.547975; finalDepth = 590.162215; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:590.162215 # Seafloor depth:-630.162215 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 629.547975 meters looking forward 0.000000 meters along route # Maximum depth: 629.547975 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 589.547975 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.715403; longitude = -117.461664; captureRadius = 10; duration = 50; initialDepth = 592.353683; finalDepth = 589.547975; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:589.547975 # Seafloor depth:-629.547975 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 632.353683 meters looking forward 0.000000 meters along route # Maximum depth: 632.353683 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 592.353683 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.715809; longitude = -117.461976; captureRadius = 10; duration = 50; initialDepth = 595.531165; finalDepth = 592.353683; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:592.353683 # Seafloor depth:-632.353683 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 635.531165 meters looking forward 0.000000 meters along route # Maximum depth: 635.531165 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 595.531165 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.716215; longitude = -117.462287; captureRadius = 10; duration = 50; initialDepth = 596.531461; finalDepth = 595.531165; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:595.531165 # Seafloor depth:-635.531165 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 636.531461 meters looking forward 0.000000 meters along route # Maximum depth: 636.531461 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 596.531461 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.716621; longitude = -117.462598; captureRadius = 10; duration = 50; initialDepth = 599.051274; finalDepth = 596.531461; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:596.531461 # Seafloor depth:-636.531461 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 639.051274 meters looking forward 0.000000 meters along route # Maximum depth: 639.051274 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 599.051274 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.717027; longitude = -117.462909; captureRadius = 10; duration = 50; initialDepth = 602.613923; finalDepth = 599.051274; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:599.051274 # Seafloor depth:-639.051274 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 642.613923 meters looking forward 0.000000 meters along route # Maximum depth: 642.613923 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 602.613923 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.717433; longitude = -117.463221; captureRadius = 10; duration = 50; initialDepth = 606.264434; finalDepth = 602.613923; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:602.613923 # Seafloor depth:-642.613923 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 646.264434 meters looking forward 0.000000 meters along route # Maximum depth: 646.264434 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 606.264434 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.717839; longitude = -117.463532; captureRadius = 10; duration = 50; initialDepth = 613.654613; finalDepth = 606.264434; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:606.264434 # Seafloor depth:-646.264434 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 653.654613 meters looking forward 0.000000 meters along route # Maximum depth: 653.654613 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 613.654613 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.718245; longitude = -117.463843; captureRadius = 10; duration = 50; initialDepth = 616.312881; finalDepth = 613.654613; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:613.654613 # Seafloor depth:-653.654613 # 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 = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 50.186748 meters # Minimum depth: 656.312881 meters looking forward 0.000000 meters along route # Maximum depth: 656.312881 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 616.312881 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.718700; longitude = -117.464192; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 621.425405; finalDepth = 616.312881; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:616.312881 # Seafloor depth:-656.312881 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 661.425405 meters looking forward 0.000000 meters along route # Maximum depth: 661.425405 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 621.425405 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.718922; longitude = -117.464317; captureRadius = 10; duration = 50; initialDepth = 619.834577; finalDepth = 621.425405; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:621.425405 # Seafloor depth:-661.425405 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 659.834577 meters looking forward 0.000000 meters along route # Maximum depth: 659.834577 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 619.834577 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.719438; longitude = -117.464610; captureRadius = 10; duration = 50; initialDepth = 620.739982; finalDepth = 619.834577; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:619.834577 # Seafloor depth:-659.834577 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 660.739982 meters looking forward 0.000000 meters along route # Maximum depth: 660.739982 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 620.739982 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.719869; longitude = -117.464853; captureRadius = 10; duration = 50; initialDepth = 619.247476; finalDepth = 620.739982; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:620.739982 # Seafloor depth:-660.739982 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 659.247476 meters looking forward 0.000000 meters along route # Maximum depth: 659.247476 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 619.247476 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.720410; longitude = -117.465160; captureRadius = 10; duration = 50; initialDepth = 615.903792; finalDepth = 619.247476; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:619.247476 # Seafloor depth:-659.247476 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 655.903792 meters looking forward 0.000000 meters along route # Maximum depth: 655.903792 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 615.903792 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.720952; longitude = -117.465466; captureRadius = 10; duration = 50; initialDepth = 619.514680; finalDepth = 615.903792; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:615.903792 # Seafloor depth:-655.903792 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 659.514680 meters looking forward 0.000000 meters along route # Maximum depth: 659.514680 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 619.514680 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.721493; longitude = -117.465773; captureRadius = 10; duration = 50; initialDepth = 619.996472; finalDepth = 619.514680; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:619.51468 # Seafloor depth:-659.514680 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 659.996472 meters looking forward 0.000000 meters along route # Maximum depth: 659.996472 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 619.996472 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.722034; longitude = -117.466079; captureRadius = 10; duration = 50; initialDepth = 621.139698; finalDepth = 619.996472; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:619.996472 # Seafloor depth:-659.996472 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 661.139698 meters looking forward 0.000000 meters along route # Maximum depth: 661.139698 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 621.139698 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.722576; longitude = -117.466385; captureRadius = 10; duration = 50; initialDepth = 623.996789; finalDepth = 621.139698; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:621.139698 # Seafloor depth:-661.139698 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 663.996789 meters looking forward 0.000000 meters along route # Maximum depth: 663.996789 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 623.996789 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.723115; longitude = -117.466691; captureRadius = 10; duration = 50; initialDepth = 627.334373; finalDepth = 623.996789; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:623.996789 # Seafloor depth:-663.996789 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 667.334373 meters looking forward 0.000000 meters along route # Maximum depth: 667.334373 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 627.334373 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.723523; longitude = -117.466921; captureRadius = 10; duration = 50; initialDepth = 633.069576; finalDepth = 627.334373; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:627.334373 # Seafloor depth:-667.334373 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 673.069576 meters looking forward 0.000000 meters along route # Maximum depth: 673.069576 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 633.069576 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.724065; longitude = -117.467228; captureRadius = 10; duration = 50; initialDepth = 639.582384; finalDepth = 633.069576; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:633.069576 # Seafloor depth:-673.069576 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 679.582384 meters looking forward 0.000000 meters along route # Maximum depth: 679.582384 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 639.582384 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.724606; longitude = -117.467534; captureRadius = 10; duration = 50; initialDepth = 648.439440; finalDepth = 639.582384; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:639.582384 # Seafloor depth:-679.582384 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 688.439440 meters looking forward 0.000000 meters along route # Maximum depth: 688.439440 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 648.439440 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.725147; longitude = -117.467840; captureRadius = 10; duration = 50; initialDepth = 659.153384; finalDepth = 648.439440; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:648.43944 # Seafloor depth:-688.439440 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 699.153384 meters looking forward 0.000000 meters along route # Maximum depth: 699.153384 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 659.153384 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.725689; longitude = -117.468147; captureRadius = 10; duration = 50; initialDepth = 664.953829; finalDepth = 659.153384; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:659.153384 # Seafloor depth:-699.153384 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 704.953829 meters looking forward 0.000000 meters along route # Maximum depth: 704.953829 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 664.953829 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.726227; longitude = -117.468451; captureRadius = 10; duration = 50; initialDepth = 670.372844; finalDepth = 664.953829; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:664.953829 # Seafloor depth:-704.953829 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 710.372844 meters looking forward 0.000000 meters along route # Maximum depth: 710.372844 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 670.372844 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.726636; longitude = -117.468683; captureRadius = 10; duration = 50; initialDepth = 675.572403; finalDepth = 670.372844; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:670.372844 # Seafloor depth:-710.372844 # 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 = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 50.186748 meters # Minimum depth: 715.572403 meters looking forward 0.000000 meters along route # Maximum depth: 715.572403 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 675.572403 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.727117; longitude = -117.468955; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 674.039890; finalDepth = 675.572403; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:675.572403 # Seafloor depth:-715.572403 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 50.186748 meters # Minimum depth: 714.039890 meters looking forward 0.000000 meters along route # Maximum depth: 714.039890 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 674.039890 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.727583; longitude = -117.469174; captureRadius = 10; duration = 50; initialDepth = 671.284770; finalDepth = 674.039890; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:674.03989 # Seafloor depth:-714.039890 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 50.186748 meters # Minimum depth: 711.284770 meters looking forward 0.000000 meters along route # Maximum depth: 711.284770 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 671.284770 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.728125; longitude = -117.469429; captureRadius = 10; duration = 50; initialDepth = 670.400916; finalDepth = 671.284770; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:671.28477 # Seafloor depth:-711.284770 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 50.186748 meters # Minimum depth: 710.400916 meters looking forward 0.000000 meters along route # Maximum depth: 710.400916 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 670.400916 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.728666; longitude = -117.469684; captureRadius = 10; duration = 50; initialDepth = 671.271427; finalDepth = 670.400916; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:670.400916 # Seafloor depth:-710.400916 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 50.186748 meters # Minimum depth: 711.271427 meters looking forward 0.000000 meters along route # Maximum depth: 711.271427 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 671.271427 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.729107; longitude = -117.469892; captureRadius = 10; duration = 50; initialDepth = 672.441230; finalDepth = 671.271427; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:671.271427 # Seafloor depth:-711.271427 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 50.186748 meters # Minimum depth: 712.441230 meters looking forward 0.000000 meters along route # Maximum depth: 712.441230 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 672.441230 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.729614; longitude = -117.470130; captureRadius = 10; duration = 50; initialDepth = 677.664589; finalDepth = 672.441230; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:672.44123 # Seafloor depth:-712.441230 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 50.186748 meters # Minimum depth: 717.664589 meters looking forward 0.000000 meters along route # Maximum depth: 717.664589 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 677.664589 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.730155; longitude = -117.470385; captureRadius = 10; duration = 50; initialDepth = 679.860678; finalDepth = 677.664589; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:677.664589 # Seafloor depth:-717.664589 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 50.186748 meters # Minimum depth: 719.860678 meters looking forward 0.000000 meters along route # Maximum depth: 719.860678 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 679.860678 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.730696; longitude = -117.470639; captureRadius = 10; duration = 50; initialDepth = 677.300993; finalDepth = 679.860678; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:679.860678 # Seafloor depth:-719.860678 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 50.186748 meters # Minimum depth: 717.300993 meters looking forward 0.000000 meters along route # Maximum depth: 717.300993 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 677.300993 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.731148; longitude = -117.470852; captureRadius = 10; duration = 50; initialDepth = 686.921057; finalDepth = 677.300993; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:677.300993 # Seafloor depth:-717.300993 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 50.186748 meters # Minimum depth: 726.921057 meters looking forward 0.000000 meters along route # Maximum depth: 726.921057 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 686.921057 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.731644; longitude = -117.471085; captureRadius = 10; duration = 50; initialDepth = 686.955090; finalDepth = 686.921057; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:686.921057 # Seafloor depth:-726.921057 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 50.186748 meters # Minimum depth: 726.955090 meters looking forward 0.000000 meters along route # Maximum depth: 726.955090 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 686.955090 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.732185; longitude = -117.471340; captureRadius = 10; duration = 50; initialDepth = 680.915424; finalDepth = 686.955090; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:686.95509 # Seafloor depth:-726.955090 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 50.186748 meters # Minimum depth: 720.915424 meters looking forward 0.000000 meters along route # Maximum depth: 720.915424 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 680.915424 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.732726; longitude = -117.471595; captureRadius = 10; duration = 50; initialDepth = 687.922949; finalDepth = 680.915424; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:680.915424 # Seafloor depth:-720.915424 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 50.186748 meters # Minimum depth: 727.922949 meters looking forward 0.000000 meters along route # Maximum depth: 727.922949 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 687.922949 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.733189; longitude = -117.471812; captureRadius = 10; duration = 50; initialDepth = 688.655893; finalDepth = 687.922949; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:687.922949 # Seafloor depth:-727.922949 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 50.186748 meters # Minimum depth: 728.655893 meters looking forward 0.000000 meters along route # Maximum depth: 728.655893 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 688.655893 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.733674; longitude = -117.472041; captureRadius = 10; duration = 50; initialDepth = 688.610789; finalDepth = 688.655893; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:688.655893 # Seafloor depth:-728.655893 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 50.186748 meters # Minimum depth: 728.610789 meters looking forward 0.000000 meters along route # Maximum depth: 728.610789 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 688.610789 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.734215; longitude = -117.472295; captureRadius = 10; duration = 50; initialDepth = 687.721090; finalDepth = 688.610789; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:688.610789 # Seafloor depth:-728.610789 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 50.186748 meters # Minimum depth: 727.721090 meters looking forward 0.000000 meters along route # Maximum depth: 727.721090 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 687.721090 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.734756; longitude = -117.472550; captureRadius = 10; duration = 50; initialDepth = 685.499268; finalDepth = 687.721090; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:687.72109 # Seafloor depth:-727.721090 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 50.186748 meters # Minimum depth: 725.499268 meters looking forward 0.000000 meters along route # Maximum depth: 725.499268 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 685.499268 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.735230; longitude = -117.472773; captureRadius = 10; duration = 50; initialDepth = 683.963668; finalDepth = 685.499268; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:685.499268 # Seafloor depth:-725.499268 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 50.186748 meters # Minimum depth: 723.963668 meters looking forward 0.000000 meters along route # Maximum depth: 723.963668 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 683.963668 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.735704; longitude = -117.472996; captureRadius = 10; duration = 50; initialDepth = 683.789206; finalDepth = 683.963668; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:683.963668 # Seafloor depth:-723.963668 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 50.186748 meters # Minimum depth: 723.789206 meters looking forward 0.000000 meters along route # Maximum depth: 723.789206 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 683.789206 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.736250; longitude = -117.473253; captureRadius = 10; duration = 50; initialDepth = 685.995057; finalDepth = 683.789206; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:683.789206 # Seafloor depth:-723.789206 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 50.186748 meters # Minimum depth: 725.995057 meters looking forward 0.000000 meters along route # Maximum depth: 725.995057 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 685.995057 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.736787; longitude = -117.473505; captureRadius = 10; duration = 50; initialDepth = 687.589507; finalDepth = 685.995057; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:685.995057 # Seafloor depth:-725.995057 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 50.186748 meters # Minimum depth: 727.589507 meters looking forward 0.000000 meters along route # Maximum depth: 727.589507 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 687.589507 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.737328; longitude = -117.473760; captureRadius = 10; duration = 50; initialDepth = 686.858793; finalDepth = 687.589507; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:687.589507 # Seafloor depth:-727.589507 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 50.186748 meters # Minimum depth: 726.858793 meters looking forward 0.000000 meters along route # Maximum depth: 726.858793 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 686.858793 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.737869; longitude = -117.474015; captureRadius = 10; duration = 50; initialDepth = 684.515597; finalDepth = 686.858793; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:686.858793 # Seafloor depth:-726.858793 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 50.186748 meters # Minimum depth: 724.515597 meters looking forward 0.000000 meters along route # Maximum depth: 724.515597 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 684.515597 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.738291; longitude = -117.474213; captureRadius = 10; duration = 50; initialDepth = 681.865771; finalDepth = 684.515597; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:684.515597 # Seafloor depth:-724.515597 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 50.186748 meters # Minimum depth: 721.865771 meters looking forward 0.000000 meters along route # Maximum depth: 721.865771 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 681.865771 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.738817; longitude = -117.474461; captureRadius = 10; duration = 50; initialDepth = 689.678575; finalDepth = 681.865771; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:681.865771 # Seafloor depth:-721.865771 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 50.186748 meters # Minimum depth: 729.678575 meters looking forward 0.000000 meters along route # Maximum depth: 729.678575 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 689.678575 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.739358; longitude = -117.474716; captureRadius = 10; duration = 50; initialDepth = 694.687981; finalDepth = 689.678575; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:689.678575 # Seafloor depth:-729.678575 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 50.186748 meters # Minimum depth: 734.687981 meters looking forward 0.000000 meters along route # Maximum depth: 734.687981 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 694.687981 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.739899; longitude = -117.474970; captureRadius = 10; duration = 50; initialDepth = 699.428880; finalDepth = 694.687981; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:694.687981 # Seafloor depth:-734.687981 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 50.186748 meters # Minimum depth: 739.428880 meters looking forward 0.000000 meters along route # Maximum depth: 739.428880 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 699.428880 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.740331; longitude = -117.475174; captureRadius = 10; duration = 50; initialDepth = 701.922294; finalDepth = 699.428880; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:699.42888 # Seafloor depth:-739.428880 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 50.186748 meters # Minimum depth: 741.922294 meters looking forward 0.000000 meters along route # Maximum depth: 741.922294 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 701.922294 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.740847; longitude = -117.475416; captureRadius = 10; duration = 50; initialDepth = 703.646854; finalDepth = 701.922294; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:701.922294 # Seafloor depth:-741.922294 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 50.186748 meters # Minimum depth: 743.646854 meters looking forward 0.000000 meters along route # Maximum depth: 743.646854 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 703.646854 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.741388; longitude = -117.475671; captureRadius = 10; duration = 50; initialDepth = 703.736579; finalDepth = 703.646854; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:703.646854 # Seafloor depth:-743.646854 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 50.186748 meters # Minimum depth: 743.736579 meters looking forward 0.000000 meters along route # Maximum depth: 743.736579 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 703.736579 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.741930; longitude = -117.475926; captureRadius = 10; duration = 50; initialDepth = 704.594505; finalDepth = 703.736579; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:703.736579 # Seafloor depth:-743.736579 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 50.186748 meters # Minimum depth: 744.594505 meters looking forward 0.000000 meters along route # Maximum depth: 744.594505 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 704.594505 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.742372; longitude = -117.476134; captureRadius = 10; duration = 50; initialDepth = 705.425698; finalDepth = 704.594505; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:704.594505 # Seafloor depth:-744.594505 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 50.186748 meters # Minimum depth: 745.425698 meters looking forward 0.000000 meters along route # Maximum depth: 745.425698 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 705.425698 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.742877; longitude = -117.476371; captureRadius = 10; duration = 50; initialDepth = 707.087242; finalDepth = 705.425698; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:705.425698 # Seafloor depth:-745.425698 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 50.186748 meters # Minimum depth: 747.087242 meters looking forward 0.000000 meters along route # Maximum depth: 747.087242 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 707.087242 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.743418; longitude = -117.476626; captureRadius = 10; duration = 50; initialDepth = 709.418106; finalDepth = 707.087242; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:707.087242 # Seafloor depth:-747.087242 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 50.186748 meters # Minimum depth: 749.418106 meters looking forward 0.000000 meters along route # Maximum depth: 749.418106 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 709.418106 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.743960; longitude = -117.476881; captureRadius = 10; duration = 50; initialDepth = 709.987694; finalDepth = 709.418106; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:709.418106 # Seafloor depth:-749.418106 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 50.186748 meters # Minimum depth: 749.987694 meters looking forward 0.000000 meters along route # Maximum depth: 749.987694 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 709.987694 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.744413; longitude = -117.477094; captureRadius = 10; duration = 50; initialDepth = 709.495330; finalDepth = 709.987694; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:709.987694 # Seafloor depth:-749.987694 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 50.186748 meters # Minimum depth: 749.495330 meters looking forward 0.000000 meters along route # Maximum depth: 749.495330 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 709.495330 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.744907; longitude = -117.477327; captureRadius = 10; duration = 50; initialDepth = 706.427844; finalDepth = 709.495330; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:709.49533 # Seafloor depth:-749.495330 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 50.186748 meters # Minimum depth: 746.427844 meters looking forward 0.000000 meters along route # Maximum depth: 746.427844 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 706.427844 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.745448; longitude = -117.477582; captureRadius = 10; duration = 50; initialDepth = 705.325574; finalDepth = 706.427844; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:706.427844 # Seafloor depth:-746.427844 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 50.186748 meters # Minimum depth: 745.325574 meters looking forward 0.000000 meters along route # Maximum depth: 745.325574 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 705.325574 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.745990; longitude = -117.477836; captureRadius = 10; duration = 50; initialDepth = 707.115561; finalDepth = 705.325574; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:705.325574 # Seafloor depth:-745.325574 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 50.186748 meters # Minimum depth: 747.115561 meters looking forward 0.000000 meters along route # Maximum depth: 747.115561 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 707.115561 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.746454; longitude = -117.478055; captureRadius = 10; duration = 50; initialDepth = 715.228261; finalDepth = 707.115561; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:707.115561 # Seafloor depth:-747.115561 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 50.186748 meters # Minimum depth: 755.228261 meters looking forward 0.000000 meters along route # Maximum depth: 755.228261 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 715.228261 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.746937; longitude = -117.478282; captureRadius = 10; duration = 50; initialDepth = 724.180632; finalDepth = 715.228261; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:715.228261 # Seafloor depth:-755.228261 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 50.186748 meters # Minimum depth: 764.180632 meters looking forward 0.000000 meters along route # Maximum depth: 764.180632 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 724.180632 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.747479; longitude = -117.478537; captureRadius = 10; duration = 50; initialDepth = 732.632754; finalDepth = 724.180632; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:724.180632 # Seafloor depth:-764.180632 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 50.186748 meters # Minimum depth: 772.632754 meters looking forward 0.000000 meters along route # Maximum depth: 772.632754 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 732.632754 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.748020; longitude = -117.478792; captureRadius = 10; duration = 50; initialDepth = 740.711328; finalDepth = 732.632754; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:732.632754 # Seafloor depth:-772.632754 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 50.186748 meters # Minimum depth: 780.711328 meters looking forward 0.000000 meters along route # Maximum depth: 780.711328 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 740.711328 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.748494; longitude = -117.479015; captureRadius = 10; duration = 50; initialDepth = 747.562694; finalDepth = 740.711328; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:740.711328 # Seafloor depth:-780.711328 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 50.186748 meters # Minimum depth: 787.562694 meters looking forward 0.000000 meters along route # Maximum depth: 787.562694 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 747.562694 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.748967; longitude = -117.479238; captureRadius = 10; duration = 50; initialDepth = 780.209014; finalDepth = 747.562694; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:747.562694 # Seafloor depth:-787.562694 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 50.186748 meters # Minimum depth: 820.622255 meters looking forward 0.000000 meters along route # Maximum depth: 820.622255 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 780.209014 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.749515; longitude = -117.479495; captureRadius = 10; duration = 50; initialDepth = 769.063122; finalDepth = 780.209014; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.4132405 # Actual altitude: 50 # Commanded vehicle depth:780.2090145 # Seafloor depth:-820.622255 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 50.186748 meters # Minimum depth: 809.063122 meters looking forward 0.000000 meters along route # Maximum depth: 809.063122 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 769.063122 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.750050; longitude = -117.479747; captureRadius = 10; duration = 50; initialDepth = 797.988696; finalDepth = 769.063122; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.4132405 # Actual altitude: 50 # Commanded vehicle depth:769.063122 # Seafloor depth:-809.063122 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 50.186748 meters # Minimum depth: 842.885159 meters looking forward 0.000000 meters along route # Maximum depth: 842.885159 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 797.988696 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.750535; longitude = -117.479975; captureRadius = 10; duration = 50; initialDepth = 810.358719; finalDepth = 797.988696; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.8964625000009 # Actual altitude: 50 # Commanded vehicle depth:797.988696499999 # Seafloor depth:-842.885159 # 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 = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 50.186748 meters # Minimum depth: 850.358719 meters looking forward 0.000000 meters along route # Maximum depth: 850.358719 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.750985; longitude = -117.480187; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 810.626360; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.358719 # Actual altitude: 50.358719 # Commanded vehicle depth:800 # Seafloor depth:-850.358719 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.14; MB_Bottom_Detect_Filter_Max_Range = 201.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 50.186748 meters # Minimum depth: 850.626360 meters looking forward 0.000000 meters along route # Maximum depth: 850.626360 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.751403; longitude = -117.480314; captureRadius = 10; duration = 50; initialDepth = 808.069909; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.62636 # Actual altitude: 50.62636 # Commanded vehicle depth:800 # Seafloor depth:-850.626360 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.25; MB_Bottom_Detect_Filter_Max_Range = 202.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 50.186748 meters # Minimum depth: 848.069909 meters looking forward 0.000000 meters along route # Maximum depth: 848.069909 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.751945; longitude = -117.480479; captureRadius = 10; duration = 50; initialDepth = 806.769045; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.62636 # Actual altitude: 50.62636 # Commanded vehicle depth:800 # Seafloor depth:-848.069909 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.25; MB_Bottom_Detect_Filter_Max_Range = 202.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 50.186748 meters # Minimum depth: 846.769045 meters looking forward 0.000000 meters along route # Maximum depth: 846.769045 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.752394; longitude = -117.480615; captureRadius = 10; duration = 50; initialDepth = 806.890778; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.0699090000001 # Actual altitude: 50 # Commanded vehicle depth:800 # Seafloor depth:-846.769045 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 846.890778 meters looking forward 0.000000 meters along route # Maximum depth: 846.890778 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.752921; longitude = -117.480776; captureRadius = 10; duration = 50; initialDepth = 805.196650; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.890778 # Actual altitude: 50 # Commanded vehicle depth:800 # Seafloor depth:-846.890778 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 845.196650 meters looking forward 0.000000 meters along route # Maximum depth: 845.196650 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.753447; longitude = -117.480936; captureRadius = 10; duration = 50; initialDepth = 803.401808; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.890778 # Actual altitude: 50 # Commanded vehicle depth:800 # Seafloor depth:-845.196650 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 843.401808 meters looking forward 0.000000 meters along route # Maximum depth: 843.401808 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.753975; longitude = -117.481096; captureRadius = 10; duration = 50; initialDepth = 800.534918; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.19665 # Actual altitude: 50 # Commanded vehicle depth:800 # Seafloor depth:-843.401808 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 840.534918 meters looking forward 0.000000 meters along route # Maximum depth: 840.534918 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.754516; longitude = -117.481261; captureRadius = 10; duration = 50; initialDepth = 795.325314; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.401808 # Actual altitude: 50 # Commanded vehicle depth:800 # Seafloor depth:-840.534918 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 835.325314 meters looking forward 0.000000 meters along route # Maximum depth: 835.325314 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 795.325314 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.755058; longitude = -117.481425; captureRadius = 10; duration = 50; initialDepth = 792.505736; finalDepth = 795.325314; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.5349179999999 # Actual altitude: 50 # Commanded vehicle depth:795.325314 # Seafloor depth:-835.325314 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 832.505736 meters looking forward 0.000000 meters along route # Maximum depth: 832.505736 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 792.505736 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.755599; longitude = -117.481590; captureRadius = 10; duration = 50; initialDepth = 792.673615; finalDepth = 792.505736; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:792.505736 # Seafloor depth:-832.505736 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 832.673615 meters looking forward 0.000000 meters along route # Maximum depth: 832.673615 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 792.673615 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.756140; longitude = -117.481754; captureRadius = 10; duration = 50; initialDepth = 781.159461; finalDepth = 792.673615; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:792.673615 # Seafloor depth:-832.673615 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 821.159461 meters looking forward 0.000000 meters along route # Maximum depth: 821.159461 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 781.159461 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.756682; longitude = -117.481919; captureRadius = 10; duration = 50; initialDepth = 779.592071; finalDepth = 781.159461; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:781.159461 # Seafloor depth:-821.159461 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 819.592071 meters looking forward 0.000000 meters along route # Maximum depth: 819.592071 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 779.592071 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.757132; longitude = -117.482056; captureRadius = 10; duration = 50; initialDepth = 779.246203; finalDepth = 779.592071; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:779.592071 # Seafloor depth:-819.592071 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 819.246203 meters looking forward 0.000000 meters along route # Maximum depth: 819.246203 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 779.246203 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.757658; longitude = -117.482216; captureRadius = 10; duration = 50; initialDepth = 779.028378; finalDepth = 779.246203; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:779.246203 # Seafloor depth:-819.246203 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 819.028378 meters looking forward 0.000000 meters along route # Maximum depth: 819.028378 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 779.028378 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.758185; longitude = -117.482376; captureRadius = 10; duration = 50; initialDepth = 779.836107; finalDepth = 779.028378; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:779.028378 # Seafloor depth:-819.028378 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 819.836107 meters looking forward 0.000000 meters along route # Maximum depth: 819.836107 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 779.836107 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.758712; longitude = -117.482536; captureRadius = 10; duration = 50; initialDepth = 780.249289; finalDepth = 779.836107; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:779.836107 # Seafloor depth:-819.836107 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 820.249289 meters looking forward 0.000000 meters along route # Maximum depth: 820.249289 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 780.249289 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.759253; longitude = -117.482701; captureRadius = 10; duration = 50; initialDepth = 781.994682; finalDepth = 780.249289; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:780.249289 # Seafloor depth:-820.249289 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 821.994682 meters looking forward 0.000000 meters along route # Maximum depth: 821.994682 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 781.994682 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.759795; longitude = -117.482866; captureRadius = 10; duration = 50; initialDepth = 785.776026; finalDepth = 781.994682; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:781.994682 # Seafloor depth:-821.994682 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 825.776026 meters looking forward 0.000000 meters along route # Maximum depth: 825.776026 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 785.776026 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.760336; longitude = -117.483030; captureRadius = 10; duration = 50; initialDepth = 794.525940; finalDepth = 785.776026; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:785.776026 # Seafloor depth:-825.776026 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 834.525940 meters looking forward 0.000000 meters along route # Maximum depth: 834.525940 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 794.525940 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.760877; longitude = -117.483195; captureRadius = 10; duration = 50; initialDepth = 799.687072; finalDepth = 794.525940; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:794.52594 # Seafloor depth:-834.525940 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 839.687072 meters looking forward 0.000000 meters along route # Maximum depth: 839.687072 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 799.687072 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.761419; longitude = -117.483359; captureRadius = 10; duration = 50; initialDepth = 803.420058; finalDepth = 799.687072; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:799.687072 # Seafloor depth:-839.687072 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 843.420058 meters looking forward 0.000000 meters along route # Maximum depth: 843.420058 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.761870; longitude = -117.483496; captureRadius = 10; duration = 50; initialDepth = 805.687226; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.420058 # Actual altitude: 50 # Commanded vehicle depth:800 # Seafloor depth:-843.420058 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 845.687226 meters looking forward 0.000000 meters along route # Maximum depth: 845.687226 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.762396; longitude = -117.483657; captureRadius = 10; duration = 50; initialDepth = 807.234646; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.687226 # Actual altitude: 50 # Commanded vehicle depth:800 # Seafloor depth:-845.687226 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 847.234646 meters looking forward 0.000000 meters along route # Maximum depth: 847.234646 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.762923; longitude = -117.483817; captureRadius = 10; duration = 50; initialDepth = 805.383726; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.234646 # Actual altitude: 50 # Commanded vehicle depth:800 # Seafloor depth:-847.234646 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 845.383726 meters looking forward 0.000000 meters along route # Maximum depth: 845.383726 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.763449; longitude = -117.483977; captureRadius = 10; duration = 50; initialDepth = 806.433598; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.234646 # Actual altitude: 50 # Commanded vehicle depth:800 # Seafloor depth:-845.383726 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 846.433598 meters looking forward 0.000000 meters along route # Maximum depth: 846.433598 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.763990; longitude = -117.484141; captureRadius = 10; duration = 50; initialDepth = 804.662467; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.433598 # Actual altitude: 50 # Commanded vehicle depth:800 # Seafloor depth:-846.433598 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 844.662467 meters looking forward 0.000000 meters along route # Maximum depth: 844.662467 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.764532; longitude = -117.484306; captureRadius = 10; duration = 50; initialDepth = 804.643506; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.433598 # Actual altitude: 50 # Commanded vehicle depth:800 # Seafloor depth:-844.662467 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 844.643506 meters looking forward 0.000000 meters along route # Maximum depth: 844.643506 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.765073; longitude = -117.484470; captureRadius = 10; duration = 50; initialDepth = 804.466946; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.662467 # Actual altitude: 50 # Commanded vehicle depth:800 # Seafloor depth:-844.643506 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 844.466946 meters looking forward 0.000000 meters along route # Maximum depth: 844.466946 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.765614; longitude = -117.484635; captureRadius = 10; duration = 50; initialDepth = 803.335265; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.643506 # Actual altitude: 50 # Commanded vehicle depth:800 # Seafloor depth:-844.466946 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 843.335265 meters looking forward 0.000000 meters along route # Maximum depth: 843.335265 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.766156; longitude = -117.484800; captureRadius = 10; duration = 50; initialDepth = 802.306336; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.466946 # Actual altitude: 50 # Commanded vehicle depth:800 # Seafloor depth:-843.335265 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 842.306336 meters looking forward 0.000000 meters along route # Maximum depth: 842.306336 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.766697; longitude = -117.484964; captureRadius = 10; duration = 50; initialDepth = 798.103783; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.335265 # Actual altitude: 50 # Commanded vehicle depth:800 # Seafloor depth:-842.306336 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 838.103783 meters looking forward 0.000000 meters along route # Maximum depth: 838.103783 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 798.103783 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.767238; longitude = -117.485129; captureRadius = 10; duration = 50; initialDepth = 793.223164; finalDepth = 798.103783; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.306336 # Actual altitude: 50 # Commanded vehicle depth:798.103783 # Seafloor depth:-838.103783 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 833.223164 meters looking forward 0.000000 meters along route # Maximum depth: 833.223164 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 793.223164 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.767780; longitude = -117.485293; captureRadius = 10; duration = 50; initialDepth = 788.174105; finalDepth = 793.223164; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:793.223164 # Seafloor depth:-833.223164 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 828.174105 meters looking forward 0.000000 meters along route # Maximum depth: 828.174105 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 788.174105 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.768321; longitude = -117.485458; captureRadius = 10; duration = 50; initialDepth = 785.734234; finalDepth = 788.174105; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:788.174105 # Seafloor depth:-828.174105 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 825.734234 meters looking forward 0.000000 meters along route # Maximum depth: 825.734234 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 785.734234 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.768863; longitude = -117.485623; captureRadius = 10; duration = 50; initialDepth = 787.616624; finalDepth = 785.734234; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:785.734234 # Seafloor depth:-825.734234 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 827.616624 meters looking forward 0.000000 meters along route # Maximum depth: 827.616624 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 787.616624 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.769404; longitude = -117.485787; captureRadius = 10; duration = 50; initialDepth = 791.000351; finalDepth = 787.616624; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:787.616624 # Seafloor depth:-827.616624 # 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 = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 50.186748 meters # Minimum depth: 831.000351 meters looking forward 0.000000 meters along route # Maximum depth: 831.000351 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 791.000351 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.769923; longitude = -117.485945; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 791.147790; finalDepth = 791.000351; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:791.000351 # Seafloor depth:-831.000351 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 831.147790 meters looking forward 0.000000 meters along route # Maximum depth: 831.147790 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 791.147790 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.769945; longitude = -117.485972; captureRadius = 10; duration = 50; initialDepth = 797.007388; finalDepth = 791.147790; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:791.14779 # Seafloor depth:-831.147790 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 837.007388 meters looking forward 0.000000 meters along route # Maximum depth: 837.007388 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 797.007388 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.770281; longitude = -117.486377; captureRadius = 10; duration = 50; initialDepth = 801.836814; finalDepth = 797.007388; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:797.007388 # Seafloor depth:-837.007388 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 841.836814 meters looking forward 0.000000 meters along route # Maximum depth: 841.836814 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.770622; longitude = -117.486790; captureRadius = 10; duration = 50; initialDepth = 804.040790; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.836814 # Actual altitude: 50 # Commanded vehicle depth:800 # Seafloor depth:-841.836814 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 844.040790 meters looking forward 0.000000 meters along route # Maximum depth: 844.040790 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.770943; longitude = -117.487178; captureRadius = 10; duration = 50; initialDepth = 805.316547; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.04079 # Actual altitude: 50 # Commanded vehicle depth:800 # Seafloor depth:-844.040790 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 845.316547 meters looking forward 0.000000 meters along route # Maximum depth: 845.316547 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.771340; longitude = -117.487658; captureRadius = 10; duration = 50; initialDepth = 810.132072; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.316547 # Actual altitude: 50 # Commanded vehicle depth:800 # Seafloor depth:-845.316547 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 850.132072 meters looking forward 0.000000 meters along route # Maximum depth: 850.132072 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.771738; longitude = -117.488138; captureRadius = 10; duration = 50; initialDepth = 819.576856; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.132072 # Actual altitude: 50.132072 # Commanded vehicle depth:800 # Seafloor depth:-850.132072 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.05; MB_Bottom_Detect_Filter_Max_Range = 200.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 50.186748 meters # Minimum depth: 859.576856 meters looking forward 0.000000 meters along route # Maximum depth: 859.576856 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.772135; longitude = -117.488618; captureRadius = 10; duration = 50; initialDepth = 833.569290; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.576856 # Actual altitude: 59.576856 # Commanded vehicle depth:800 # Seafloor depth:-859.576856 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 238.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.83; MB_Bottom_Detect_Filter_Max_Range = 238.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 178.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 50.186748 meters # Minimum depth: 873.569290 meters looking forward 0.000000 meters along route # Maximum depth: 873.569290 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.772532; longitude = -117.489098; captureRadius = 10; duration = 50; initialDepth = 851.411598; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.56929 # Actual altitude: 73.56929 # Commanded vehicle depth:800 # Seafloor depth:-873.569290 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 294.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.43; MB_Bottom_Detect_Filter_Max_Range = 294.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 50.186748 meters # Minimum depth: 891.411598 meters looking forward 0.000000 meters along route # Maximum depth: 891.411598 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.772930; longitude = -117.489579; captureRadius = 10; duration = 50; initialDepth = 860.661812; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 91.411598 # Actual altitude: 91.411598 # Commanded vehicle depth:800 # Seafloor depth:-891.411598 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 365.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.56; MB_Bottom_Detect_Filter_Max_Range = 365.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 274.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 50.186748 meters # Minimum depth: 900.661812 meters looking forward 0.000000 meters along route # Maximum depth: 900.661812 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.773329; longitude = -117.490061; captureRadius = 10; duration = 50; initialDepth = 859.875473; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 100.661812 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-900.661812 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 50.186748 meters # Minimum depth: 899.875473 meters looking forward 0.000000 meters along route # Maximum depth: 899.875473 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.773735; longitude = -117.490552; captureRadius = 10; duration = 50; initialDepth = 860.003080; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 100.661812 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-899.875473 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 50.186748 meters # Minimum depth: 900.003080 meters looking forward 0.000000 meters along route # Maximum depth: 900.003080 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.774141; longitude = -117.491042; captureRadius = 10; duration = 50; initialDepth = 860.524444; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 100.00308 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-900.003080 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 50.186748 meters # Minimum depth: 900.524444 meters looking forward 0.000000 meters along route # Maximum depth: 900.524444 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.774547; longitude = -117.491533; captureRadius = 10; duration = 50; initialDepth = 859.638819; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 100.524444 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-900.524444 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 50.186748 meters # Minimum depth: 899.638819 meters looking forward 0.000000 meters along route # Maximum depth: 899.638819 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.774953; longitude = -117.492024; captureRadius = 10; duration = 50; initialDepth = 857.776929; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 100.524444 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-899.638819 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 50.186748 meters # Minimum depth: 897.776929 meters looking forward 0.000000 meters along route # Maximum depth: 897.776929 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.775314; longitude = -117.492460; captureRadius = 10; duration = 50; initialDepth = 856.083155; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 99.638819 # Actual altitude: 99.638819 # Commanded vehicle depth:800 # Seafloor depth:-897.776929 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 398.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.86; MB_Bottom_Detect_Filter_Max_Range = 398.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 298.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 50.186748 meters # Minimum depth: 896.083155 meters looking forward 0.000000 meters along route # Maximum depth: 896.083155 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.775630; longitude = -117.492841; captureRadius = 10; duration = 50; initialDepth = 852.678589; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 97.776929 # Actual altitude: 97.776929 # Commanded vehicle depth:800 # Seafloor depth:-896.083155 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 391.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.11; MB_Bottom_Detect_Filter_Max_Range = 391.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 293.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 50.186748 meters # Minimum depth: 892.678589 meters looking forward 0.000000 meters along route # Maximum depth: 892.678589 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.775976; longitude = -117.493260; captureRadius = 10; duration = 50; initialDepth = 848.650870; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 96.083155 # Actual altitude: 96.083155 # Commanded vehicle depth:800 # Seafloor depth:-892.678589 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 384.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.43; MB_Bottom_Detect_Filter_Max_Range = 384.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 288.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 50.186748 meters # Minimum depth: 888.650870 meters looking forward 0.000000 meters along route # Maximum depth: 888.650870 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.776306; longitude = -117.493659; captureRadius = 10; duration = 50; initialDepth = 845.401570; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 92.678589 # Actual altitude: 92.678589 # Commanded vehicle depth:800 # Seafloor depth:-888.650870 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 370.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.07; MB_Bottom_Detect_Filter_Max_Range = 370.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 278.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 50.186748 meters # Minimum depth: 885.401570 meters looking forward 0.000000 meters along route # Maximum depth: 885.401570 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.776638; longitude = -117.494060; captureRadius = 10; duration = 50; initialDepth = 842.114666; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 88.6508700000001 # Actual altitude: 88.6508700000001 # Commanded vehicle depth:800 # Seafloor depth:-885.401570 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 354.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.46; MB_Bottom_Detect_Filter_Max_Range = 354.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 265.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 50.186748 meters # Minimum depth: 882.114666 meters looking forward 0.000000 meters along route # Maximum depth: 882.114666 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.776983; longitude = -117.494477; captureRadius = 10; duration = 50; initialDepth = 839.544520; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.40157 # Actual altitude: 85.40157 # Commanded vehicle depth:800 # Seafloor depth:-882.114666 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 341.61; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.16; MB_Bottom_Detect_Filter_Max_Range = 341.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 256.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 50.186748 meters # Minimum depth: 879.544520 meters looking forward 0.000000 meters along route # Maximum depth: 879.544520 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.777300; longitude = -117.494860; captureRadius = 10; duration = 50; initialDepth = 836.866761; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.1146660000001 # Actual altitude: 82.1146660000001 # Commanded vehicle depth:800 # Seafloor depth:-879.544520 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 328.46; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.85; MB_Bottom_Detect_Filter_Max_Range = 328.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 246.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 50.186748 meters # Minimum depth: 876.866761 meters looking forward 0.000000 meters along route # Maximum depth: 876.866761 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.777698; longitude = -117.495341; captureRadius = 10; duration = 50; initialDepth = 839.444433; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.54452 # Actual altitude: 79.54452 # Commanded vehicle depth:800 # Seafloor depth:-876.866761 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 318.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.82; MB_Bottom_Detect_Filter_Max_Range = 318.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 238.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 50.186748 meters # Minimum depth: 879.444433 meters looking forward 0.000000 meters along route # Maximum depth: 879.444433 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.778095; longitude = -117.495821; captureRadius = 10; duration = 50; initialDepth = 845.890535; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.444433 # Actual altitude: 79.444433 # Commanded vehicle depth:800 # Seafloor depth:-879.444433 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 317.78; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.78; MB_Bottom_Detect_Filter_Max_Range = 317.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 238.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 50.186748 meters # Minimum depth: 885.890535 meters looking forward 0.000000 meters along route # Maximum depth: 885.890535 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.778492; longitude = -117.496301; captureRadius = 10; duration = 50; initialDepth = 855.258637; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.890535 # Actual altitude: 85.890535 # Commanded vehicle depth:800 # Seafloor depth:-885.890535 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 343.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.36; MB_Bottom_Detect_Filter_Max_Range = 343.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 257.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 50.186748 meters # Minimum depth: 895.258637 meters looking forward 0.000000 meters along route # Maximum depth: 895.258637 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.778890; longitude = -117.496781; captureRadius = 10; duration = 50; initialDepth = 869.432128; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 95.258637 # Actual altitude: 95.258637 # Commanded vehicle depth:800 # Seafloor depth:-895.258637 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 381.03; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.10; MB_Bottom_Detect_Filter_Max_Range = 381.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 285.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 50.186748 meters # Minimum depth: 909.432128 meters looking forward 0.000000 meters along route # Maximum depth: 909.432128 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.779287; longitude = -117.497261; captureRadius = 10; duration = 50; initialDepth = 882.976251; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 109.432128 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-909.432128 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 50.186748 meters # Minimum depth: 922.976251 meters looking forward 0.000000 meters along route # Maximum depth: 922.976251 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.779690; longitude = -117.497748; captureRadius = 10; duration = 50; initialDepth = 884.535910; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 122.976251 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-922.976251 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 50.186748 meters # Minimum depth: 924.535910 meters looking forward 0.000000 meters along route # Maximum depth: 924.535910 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.780096; longitude = -117.498239; captureRadius = 10; duration = 50; initialDepth = 883.419224; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 124.53591 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-924.535910 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 50.186748 meters # Minimum depth: 923.419224 meters looking forward 0.000000 meters along route # Maximum depth: 923.419224 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.780502; longitude = -117.498729; captureRadius = 10; duration = 50; initialDepth = 875.649146; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 124.53591 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-923.419224 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 50.186748 meters # Minimum depth: 915.649146 meters looking forward 0.000000 meters along route # Maximum depth: 915.649146 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.780908; longitude = -117.499220; captureRadius = 10; duration = 50; initialDepth = 873.615038; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 123.419224 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-915.649146 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 50.186748 meters # Minimum depth: 913.615038 meters looking forward 0.000000 meters along route # Maximum depth: 913.615038 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.781314; longitude = -117.499711; captureRadius = 10; duration = 50; initialDepth = 873.749653; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 115.649146 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-913.615038 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 50.186748 meters # Minimum depth: 913.749653 meters looking forward 0.000000 meters along route # Maximum depth: 913.749653 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.781720; longitude = -117.500201; captureRadius = 10; duration = 50; initialDepth = 873.775875; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 113.749653 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-913.749653 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 50.186748 meters # Minimum depth: 913.775875 meters looking forward 0.000000 meters along route # Maximum depth: 913.775875 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.782068; longitude = -117.500622; captureRadius = 10; duration = 50; initialDepth = 873.624881; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 113.775875 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-913.775875 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 50.186748 meters # Minimum depth: 913.624881 meters looking forward 0.000000 meters along route # Maximum depth: 913.624881 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.782397; longitude = -117.501019; captureRadius = 10; duration = 50; initialDepth = 874.300280; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 113.775875 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-913.624881 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 50.186748 meters # Minimum depth: 914.300280 meters looking forward 0.000000 meters along route # Maximum depth: 914.300280 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.782731; longitude = -117.501423; captureRadius = 10; duration = 50; initialDepth = 874.412444; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 114.30028 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-914.300280 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 50.186748 meters # Minimum depth: 914.412444 meters looking forward 0.000000 meters along route # Maximum depth: 914.412444 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.783073; longitude = -117.501837; captureRadius = 10; duration = 50; initialDepth = 872.512167; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 114.412444 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-914.412444 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 50.186748 meters # Minimum depth: 912.512167 meters looking forward 0.000000 meters along route # Maximum depth: 912.512167 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.783393; longitude = -117.502223; captureRadius = 10; duration = 50; initialDepth = 871.325213; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 114.412444 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-912.512167 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 50.186748 meters # Minimum depth: 911.325213 meters looking forward 0.000000 meters along route # Maximum depth: 911.325213 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.783790; longitude = -117.502703; captureRadius = 10; duration = 50; initialDepth = 870.623786; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 112.512167 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-911.325213 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 50.186748 meters # Minimum depth: 910.623786 meters looking forward 0.000000 meters along route # Maximum depth: 910.623786 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.784188; longitude = -117.503183; captureRadius = 10; duration = 50; initialDepth = 871.826024; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 111.325213 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-910.623786 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 50.186748 meters # Minimum depth: 911.826024 meters looking forward 0.000000 meters along route # Maximum depth: 911.826024 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.784585; longitude = -117.503664; captureRadius = 10; duration = 50; initialDepth = 870.137794; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 111.826024 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-911.826024 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 50.186748 meters # Minimum depth: 910.137794 meters looking forward 0.000000 meters along route # Maximum depth: 910.137794 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.784982; longitude = -117.504144; captureRadius = 10; duration = 50; initialDepth = 871.419714; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 111.826024 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-910.137794 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 50.186748 meters # Minimum depth: 911.419714 meters looking forward 0.000000 meters along route # Maximum depth: 911.419714 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.785380; longitude = -117.504624; captureRadius = 10; duration = 50; initialDepth = 872.147499; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 111.419714 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-911.419714 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 50.186748 meters # Minimum depth: 912.147499 meters looking forward 0.000000 meters along route # Maximum depth: 912.147499 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.785780; longitude = -117.505108; captureRadius = 10; duration = 50; initialDepth = 872.252437; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 112.147499 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-912.147499 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 50.186748 meters # Minimum depth: 912.252437 meters looking forward 0.000000 meters along route # Maximum depth: 912.252437 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.786186; longitude = -117.505599; captureRadius = 10; duration = 50; initialDepth = 872.668368; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 112.252437 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-912.252437 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 50.186748 meters # Minimum depth: 912.668368 meters looking forward 0.000000 meters along route # Maximum depth: 912.668368 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.786592; longitude = -117.506089; captureRadius = 10; duration = 50; initialDepth = 871.008278; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 112.668368 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-912.668368 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 50.186748 meters # Minimum depth: 911.008278 meters looking forward 0.000000 meters along route # Maximum depth: 911.008278 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.786998; longitude = -117.506580; captureRadius = 10; duration = 50; initialDepth = 871.171032; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 112.668368 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-911.008278 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 50.186748 meters # Minimum depth: 911.171032 meters looking forward 0.000000 meters along route # Maximum depth: 911.171032 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.787404; longitude = -117.507071; captureRadius = 10; duration = 50; initialDepth = 871.796228; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 111.171032 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-911.171032 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 50.186748 meters # Minimum depth: 911.796228 meters looking forward 0.000000 meters along route # Maximum depth: 911.796228 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.787764; longitude = -117.507505; captureRadius = 10; duration = 50; initialDepth = 870.439299; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 111.796228 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-911.796228 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 50.186748 meters # Minimum depth: 910.439299 meters looking forward 0.000000 meters along route # Maximum depth: 910.439299 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.788081; longitude = -117.507889; captureRadius = 10; duration = 50; initialDepth = 870.094331; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 111.796228 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-910.439299 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 50.186748 meters # Minimum depth: 910.094331 meters looking forward 0.000000 meters along route # Maximum depth: 910.094331 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.788426; longitude = -117.508305; captureRadius = 10; duration = 50; initialDepth = 870.172068; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 110.439299 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-910.094331 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 50.186748 meters # Minimum depth: 910.172068 meters looking forward 0.000000 meters along route # Maximum depth: 910.172068 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.788758; longitude = -117.508706; captureRadius = 10; duration = 50; initialDepth = 869.478858; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 110.172068 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-910.172068 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 50.186748 meters # Minimum depth: 909.478858 meters looking forward 0.000000 meters along route # Maximum depth: 909.478858 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.789088; longitude = -117.509105; captureRadius = 10; duration = 50; initialDepth = 869.619508; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 110.172068 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-909.478858 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 50.186748 meters # Minimum depth: 909.619508 meters looking forward 0.000000 meters along route # Maximum depth: 909.619508 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.789434; longitude = -117.509524; captureRadius = 10; duration = 50; initialDepth = 868.386084; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 109.619508 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-909.619508 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 50.186748 meters # Minimum depth: 908.386084 meters looking forward 0.000000 meters along route # Maximum depth: 908.386084 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.789750; longitude = -117.509906; captureRadius = 10; duration = 50; initialDepth = 867.747362; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 109.619508 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-908.386084 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 50.186748 meters # Minimum depth: 907.747362 meters looking forward 0.000000 meters along route # Maximum depth: 907.747362 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.790148; longitude = -117.510386; captureRadius = 10; duration = 50; initialDepth = 868.139084; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 108.386084 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-907.747362 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 50.186748 meters # Minimum depth: 908.139084 meters looking forward 0.000000 meters along route # Maximum depth: 908.139084 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.790545; longitude = -117.510866; captureRadius = 10; duration = 50; initialDepth = 867.149741; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 108.139084 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-908.139084 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 50.186748 meters # Minimum depth: 907.149741 meters looking forward 0.000000 meters along route # Maximum depth: 907.149741 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.790942; longitude = -117.511346; captureRadius = 10; duration = 50; initialDepth = 867.454896; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 108.139084 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-907.149741 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 50.186748 meters # Minimum depth: 907.454896 meters looking forward 0.000000 meters along route # Maximum depth: 907.454896 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.791339; longitude = -117.511826; captureRadius = 10; duration = 50; initialDepth = 866.786295; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 107.454896 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-907.454896 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 50.186748 meters # Minimum depth: 906.786295 meters looking forward 0.000000 meters along route # Maximum depth: 906.786295 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.791737; longitude = -117.512307; captureRadius = 10; duration = 50; initialDepth = 867.001885; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 107.454896 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-906.786295 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 50.186748 meters # Minimum depth: 907.001885 meters looking forward 0.000000 meters along route # Maximum depth: 907.001885 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.792141; longitude = -117.512795; captureRadius = 10; duration = 50; initialDepth = 866.585921; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 107.001885 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-907.001885 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 50.186748 meters # Minimum depth: 906.585921 meters looking forward 0.000000 meters along route # Maximum depth: 906.585921 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.792547; longitude = -117.513286; captureRadius = 10; duration = 50; initialDepth = 867.411007; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 107.001885 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-906.585921 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 50.186748 meters # Minimum depth: 907.411007 meters looking forward 0.000000 meters along route # Maximum depth: 907.411007 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.792953; longitude = -117.513777; captureRadius = 10; duration = 50; initialDepth = 868.565373; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 107.411007 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-907.411007 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 50.186748 meters # Minimum depth: 908.565373 meters looking forward 0.000000 meters along route # Maximum depth: 908.565373 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.793359; longitude = -117.514267; captureRadius = 10; duration = 50; initialDepth = 869.523510; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 108.565373 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-908.565373 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 50.186748 meters # Minimum depth: 909.523510 meters looking forward 0.000000 meters along route # Maximum depth: 909.523510 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.793765; longitude = -117.514758; captureRadius = 10; duration = 50; initialDepth = 869.967464; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 109.52351 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-909.523510 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 50.186748 meters # Minimum depth: 909.967464 meters looking forward 0.000000 meters along route # Maximum depth: 909.967464 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.794121; longitude = -117.515188; captureRadius = 10; duration = 50; initialDepth = 870.967026; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 109.967464 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-909.967464 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; 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 10 # Segment length 50.186748 meters # Minimum depth: 910.967026 meters looking forward 0.000000 meters along route # Maximum depth: 910.967026 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.794453; longitude = -117.515589; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 871.852864; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 110.967026 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-910.967026 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 50.186748 meters # Minimum depth: 911.852864 meters looking forward 0.000000 meters along route # Maximum depth: 911.852864 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.794171; longitude = -117.515869; captureRadius = 10; duration = 50; initialDepth = 871.220306; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 111.852864 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-911.852864 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 50.186748 meters # Minimum depth: 911.220306 meters looking forward 0.000000 meters along route # Maximum depth: 911.220306 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.793731; longitude = -117.516308; captureRadius = 10; duration = 50; initialDepth = 870.730331; finalDepth = 800.000000; 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: 111.852864 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-911.220306 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 9 # Segment length 50.186748 meters # Minimum depth: 910.730331 meters looking forward 0.000000 meters along route # Maximum depth: 910.730331 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.793311; longitude = -117.516726; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 872.318670; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 111.220306 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-910.730331 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 50.186748 meters # Minimum depth: 912.318670 meters looking forward 0.000000 meters along route # Maximum depth: 912.318670 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.792953; longitude = -117.516290; captureRadius = 10; duration = 50; initialDepth = 872.371423; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 112.31867 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-912.318670 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 50.186748 meters # Minimum depth: 912.371423 meters looking forward 0.000000 meters along route # Maximum depth: 912.371423 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.792547; longitude = -117.515796; captureRadius = 10; duration = 50; initialDepth = 872.361880; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 112.371423 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-912.371423 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 50.186748 meters # Minimum depth: 912.361880 meters looking forward 0.000000 meters along route # Maximum depth: 912.361880 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.792141; longitude = -117.515302; captureRadius = 10; duration = 50; initialDepth = 871.272063; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 112.371423 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-912.361880 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 50.186748 meters # Minimum depth: 911.272063 meters looking forward 0.000000 meters along route # Maximum depth: 911.272063 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.791735; longitude = -117.514807; captureRadius = 10; duration = 50; initialDepth = 870.776075; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 112.36188 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-911.272063 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 50.186748 meters # Minimum depth: 910.776075 meters looking forward 0.000000 meters along route # Maximum depth: 910.776075 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.791390; longitude = -117.514387; captureRadius = 10; duration = 50; initialDepth = 871.349066; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 111.272063 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-910.776075 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 50.186748 meters # Minimum depth: 911.349066 meters looking forward 0.000000 meters along route # Maximum depth: 911.349066 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.791059; longitude = -117.513983; captureRadius = 10; duration = 50; initialDepth = 869.942819; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 111.349066 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-911.349066 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 50.186748 meters # Minimum depth: 909.942819 meters looking forward 0.000000 meters along route # Maximum depth: 909.942819 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.790733; longitude = -117.513587; captureRadius = 10; duration = 50; initialDepth = 868.578456; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 111.349066 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-909.942819 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 50.186748 meters # Minimum depth: 908.578456 meters looking forward 0.000000 meters along route # Maximum depth: 908.578456 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.790339; longitude = -117.513107; captureRadius = 10; duration = 50; initialDepth = 868.117170; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 109.942819 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-908.578456 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 50.186748 meters # Minimum depth: 908.117170 meters looking forward 0.000000 meters along route # Maximum depth: 908.117170 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.789944; longitude = -117.512627; captureRadius = 10; duration = 50; initialDepth = 868.553427; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 108.578456 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-908.117170 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 50.186748 meters # Minimum depth: 908.553427 meters looking forward 0.000000 meters along route # Maximum depth: 908.553427 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.789550; longitude = -117.512147; captureRadius = 10; duration = 50; initialDepth = 867.473848; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 108.553427 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-908.553427 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 50.186748 meters # Minimum depth: 907.473848 meters looking forward 0.000000 meters along route # Maximum depth: 907.473848 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.789156; longitude = -117.511666; captureRadius = 10; duration = 50; initialDepth = 867.354278; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 108.553427 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-907.473848 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 50.186748 meters # Minimum depth: 907.354278 meters looking forward 0.000000 meters along route # Maximum depth: 907.354278 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.788758; longitude = -117.511182; captureRadius = 10; duration = 50; initialDepth = 869.337383; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 107.473848 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-907.354278 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 50.186748 meters # Minimum depth: 909.337383 meters looking forward 0.000000 meters along route # Maximum depth: 909.337383 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.788352; longitude = -117.510687; captureRadius = 10; duration = 50; initialDepth = 868.955059; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 109.337383 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-909.337383 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 50.186748 meters # Minimum depth: 908.955059 meters looking forward 0.000000 meters along route # Maximum depth: 908.955059 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.787946; longitude = -117.510193; captureRadius = 10; duration = 50; initialDepth = 868.707833; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 109.337383 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-908.955059 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 50.186748 meters # Minimum depth: 908.707833 meters looking forward 0.000000 meters along route # Maximum depth: 908.707833 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.787540; longitude = -117.509698; captureRadius = 10; duration = 50; initialDepth = 870.895517; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 108.955059 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-908.707833 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 50.186748 meters # Minimum depth: 910.895517 meters looking forward 0.000000 meters along route # Maximum depth: 910.895517 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.787134; longitude = -117.509204; captureRadius = 10; duration = 50; initialDepth = 869.737232; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 110.895517 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-910.895517 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 50.186748 meters # Minimum depth: 909.737232 meters looking forward 0.000000 meters along route # Maximum depth: 909.737232 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.786790; longitude = -117.508785; captureRadius = 10; duration = 50; initialDepth = 871.095985; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 110.895517 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-909.737232 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 50.186748 meters # Minimum depth: 911.095985 meters looking forward 0.000000 meters along route # Maximum depth: 911.095985 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.786457; longitude = -117.508380; captureRadius = 10; duration = 50; initialDepth = 870.731703; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 111.095985 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-911.095985 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 50.186748 meters # Minimum depth: 910.731703 meters looking forward 0.000000 meters along route # Maximum depth: 910.731703 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.786133; longitude = -117.507985; captureRadius = 10; duration = 50; initialDepth = 871.957425; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 111.095985 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-910.731703 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 50.186748 meters # Minimum depth: 911.957425 meters looking forward 0.000000 meters along route # Maximum depth: 911.957425 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.785738; longitude = -117.507505; captureRadius = 10; duration = 50; initialDepth = 873.131625; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 111.957425 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-911.957425 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 50.186748 meters # Minimum depth: 913.131625 meters looking forward 0.000000 meters along route # Maximum depth: 913.131625 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.785344; longitude = -117.507025; captureRadius = 10; duration = 50; initialDepth = 874.254310; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 113.131625 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-913.131625 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 50.186748 meters # Minimum depth: 914.254310 meters looking forward 0.000000 meters along route # Maximum depth: 914.254310 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.784950; longitude = -117.506545; captureRadius = 10; duration = 50; initialDepth = 873.125414; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 114.25431 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-914.254310 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 50.186748 meters # Minimum depth: 913.125414 meters looking forward 0.000000 meters along route # Maximum depth: 913.125414 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.784555; longitude = -117.506064; captureRadius = 10; duration = 50; initialDepth = 873.824520; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 114.25431 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-913.125414 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 50.186748 meters # Minimum depth: 913.824520 meters looking forward 0.000000 meters along route # Maximum depth: 913.824520 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.784156; longitude = -117.505578; captureRadius = 10; duration = 50; initialDepth = 873.840231; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 113.82452 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-913.824520 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 50.186748 meters # Minimum depth: 913.840231 meters looking forward 0.000000 meters along route # Maximum depth: 913.840231 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.783750; longitude = -117.505084; captureRadius = 10; duration = 50; initialDepth = 873.916541; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 113.840231 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-913.840231 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 50.186748 meters # Minimum depth: 913.916541 meters looking forward 0.000000 meters along route # Maximum depth: 913.916541 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.783344; longitude = -117.504590; captureRadius = 10; duration = 50; initialDepth = 873.266659; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 113.916541 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-913.916541 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 50.186748 meters # Minimum depth: 913.266659 meters looking forward 0.000000 meters along route # Maximum depth: 913.266659 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.782938; longitude = -117.504095; captureRadius = 10; duration = 50; initialDepth = 873.091919; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 113.916541 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-913.266659 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 50.186748 meters # Minimum depth: 913.091919 meters looking forward 0.000000 meters along route # Maximum depth: 913.091919 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.782584; longitude = -117.503664; captureRadius = 10; duration = 50; initialDepth = 872.030739; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 113.266659 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-913.091919 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 50.186748 meters # Minimum depth: 912.030739 meters looking forward 0.000000 meters along route # Maximum depth: 912.030739 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.782261; longitude = -117.503271; captureRadius = 10; duration = 50; initialDepth = 872.710385; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 113.091919 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-912.030739 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 50.186748 meters # Minimum depth: 912.710385 meters looking forward 0.000000 meters along route # Maximum depth: 912.710385 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.781926; longitude = -117.502863; captureRadius = 10; duration = 50; initialDepth = 873.046241; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 112.710385 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-912.710385 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 50.186748 meters # Minimum depth: 913.046241 meters looking forward 0.000000 meters along route # Maximum depth: 913.046241 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.781585; longitude = -117.502447; captureRadius = 10; duration = 50; initialDepth = 872.457085; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 113.046241 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-913.046241 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 50.186748 meters # Minimum depth: 912.457085 meters looking forward 0.000000 meters along route # Maximum depth: 912.457085 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.781269; longitude = -117.502063; captureRadius = 10; duration = 50; initialDepth = 872.123269; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 113.046241 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-912.457085 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 50.186748 meters # Minimum depth: 912.123269 meters looking forward 0.000000 meters along route # Maximum depth: 912.123269 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.780875; longitude = -117.501583; captureRadius = 10; duration = 50; initialDepth = 873.735576; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 112.457085 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-912.123269 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 50.186748 meters # Minimum depth: 913.735576 meters looking forward 0.000000 meters along route # Maximum depth: 913.735576 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.780481; longitude = -117.501103; captureRadius = 10; duration = 50; initialDepth = 873.532314; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 113.735576 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-913.735576 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 50.186748 meters # Minimum depth: 913.532314 meters looking forward 0.000000 meters along route # Maximum depth: 913.532314 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.780086; longitude = -117.500622; captureRadius = 10; duration = 50; initialDepth = 873.354583; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 113.735576 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-913.532314 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 50.186748 meters # Minimum depth: 913.354583 meters looking forward 0.000000 meters along route # Maximum depth: 913.354583 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.779690; longitude = -117.500140; captureRadius = 10; duration = 50; initialDepth = 874.974903; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 113.532314 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-913.354583 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 50.186748 meters # Minimum depth: 914.974903 meters looking forward 0.000000 meters along route # Maximum depth: 914.974903 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.779284; longitude = -117.499645; captureRadius = 10; duration = 50; initialDepth = 879.423699; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 114.974903 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-914.974903 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 50.186748 meters # Minimum depth: 919.423699 meters looking forward 0.000000 meters along route # Maximum depth: 919.423699 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.778878; longitude = -117.499151; captureRadius = 10; duration = 50; initialDepth = 884.218835; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 119.423699 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-919.423699 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 50.186748 meters # Minimum depth: 924.218835 meters looking forward 0.000000 meters along route # Maximum depth: 924.218835 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.778472; longitude = -117.498657; captureRadius = 10; duration = 50; initialDepth = 885.630846; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 124.218835 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-924.218835 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 50.186748 meters # Minimum depth: 925.630846 meters looking forward 0.000000 meters along route # Maximum depth: 925.630846 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.778115; longitude = -117.498222; captureRadius = 10; duration = 50; initialDepth = 885.319208; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 125.630846 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-925.630846 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 50.186748 meters # Minimum depth: 925.319208 meters looking forward 0.000000 meters along route # Maximum depth: 925.319208 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.777795; longitude = -117.497833; captureRadius = 10; duration = 50; initialDepth = 881.234618; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 125.630846 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-925.319208 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 50.186748 meters # Minimum depth: 921.234618 meters looking forward 0.000000 meters along route # Maximum depth: 921.234618 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.777457; longitude = -117.497421; captureRadius = 10; duration = 50; initialDepth = 866.048746; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 125.319208 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-921.234618 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 50.186748 meters # Minimum depth: 906.048746 meters looking forward 0.000000 meters along route # Maximum depth: 906.048746 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.777118; longitude = -117.497009; captureRadius = 10; duration = 50; initialDepth = 852.604460; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 121.234618 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-906.048746 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 50.186748 meters # Minimum depth: 892.604460 meters looking forward 0.000000 meters along route # Maximum depth: 892.604460 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.776800; longitude = -117.496621; captureRadius = 10; duration = 50; initialDepth = 843.482909; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 106.048746 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-892.604460 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 50.186748 meters # Minimum depth: 883.482909 meters looking forward 0.000000 meters along route # Maximum depth: 883.482909 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.776406; longitude = -117.496141; captureRadius = 10; duration = 50; initialDepth = 843.996066; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 92.60446 # Actual altitude: 92.60446 # Commanded vehicle depth:800 # Seafloor depth:-883.482909 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 370.42; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.04; MB_Bottom_Detect_Filter_Max_Range = 370.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 277.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 50.186748 meters # Minimum depth: 883.996066 meters looking forward 0.000000 meters along route # Maximum depth: 883.996066 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.776011; longitude = -117.495661; captureRadius = 10; duration = 50; initialDepth = 848.802410; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.996066 # Actual altitude: 83.996066 # Commanded vehicle depth:800 # Seafloor depth:-883.996066 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 335.98; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.60; MB_Bottom_Detect_Filter_Max_Range = 335.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 251.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 50.186748 meters # Minimum depth: 888.802410 meters looking forward 0.000000 meters along route # Maximum depth: 888.802410 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.775617; longitude = -117.495181; captureRadius = 10; duration = 50; initialDepth = 852.364661; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 88.80241 # Actual altitude: 88.80241 # Commanded vehicle depth:800 # Seafloor depth:-888.802410 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 355.21; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.52; MB_Bottom_Detect_Filter_Max_Range = 355.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 266.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 50.186748 meters # Minimum depth: 892.364661 meters looking forward 0.000000 meters along route # Maximum depth: 892.364661 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.775223; longitude = -117.494700; captureRadius = 10; duration = 50; initialDepth = 856.110615; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 92.364661 # Actual altitude: 92.364661 # Commanded vehicle depth:800 # Seafloor depth:-892.364661 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 369.46; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.95; MB_Bottom_Detect_Filter_Max_Range = 369.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 277.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 50.186748 meters # Minimum depth: 896.110615 meters looking forward 0.000000 meters along route # Maximum depth: 896.110615 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.774818; longitude = -117.494207; captureRadius = 10; duration = 50; initialDepth = 858.455318; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 96.1106150000001 # Actual altitude: 96.1106150000001 # Commanded vehicle depth:800 # Seafloor depth:-896.110615 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 384.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.44; MB_Bottom_Detect_Filter_Max_Range = 384.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 288.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 50.186748 meters # Minimum depth: 898.455318 meters looking forward 0.000000 meters along route # Maximum depth: 898.455318 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.774412; longitude = -117.493713; captureRadius = 10; duration = 50; initialDepth = 859.854223; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 98.455318 # Actual altitude: 98.455318 # Commanded vehicle depth:800 # Seafloor depth:-898.455318 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 393.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.38; MB_Bottom_Detect_Filter_Max_Range = 393.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 295.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 50.186748 meters # Minimum depth: 899.854223 meters looking forward 0.000000 meters along route # Maximum depth: 899.854223 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.774006; longitude = -117.493218; captureRadius = 10; duration = 50; initialDepth = 859.989784; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 99.854223 # Actual altitude: 99.854223 # Commanded vehicle depth:800 # Seafloor depth:-899.854223 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 399.42; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.94; MB_Bottom_Detect_Filter_Max_Range = 399.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 299.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 50.186748 meters # Minimum depth: 899.989784 meters looking forward 0.000000 meters along route # Maximum depth: 899.989784 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.773645; longitude = -117.492780; captureRadius = 10; duration = 50; initialDepth = 860.313622; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 99.989784 # Actual altitude: 99.989784 # Commanded vehicle depth:800 # Seafloor depth:-899.989784 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 399.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 399.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 299.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 50.186748 meters # Minimum depth: 900.313622 meters looking forward 0.000000 meters along route # Maximum depth: 900.313622 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.773329; longitude = -117.492394; captureRadius = 10; duration = 50; initialDepth = 860.160436; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 100.313622 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-900.313622 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 50.186748 meters # Minimum depth: 900.160436 meters looking forward 0.000000 meters along route # Maximum depth: 900.160436 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.772988; longitude = -117.491979; captureRadius = 10; duration = 50; initialDepth = 860.450276; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 100.313622 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-900.160436 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 50.186748 meters # Minimum depth: 900.450276 meters looking forward 0.000000 meters along route # Maximum depth: 900.450276 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.772652; longitude = -117.491570; captureRadius = 10; duration = 50; initialDepth = 861.098324; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 100.450276 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-900.450276 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 50.186748 meters # Minimum depth: 901.098324 meters looking forward 0.000000 meters along route # Maximum depth: 901.098324 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.772331; longitude = -117.491179; captureRadius = 10; duration = 50; initialDepth = 859.312147; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 101.098324 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-901.098324 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 50.186748 meters # Minimum depth: 899.312147 meters looking forward 0.000000 meters along route # Maximum depth: 899.312147 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.771937; longitude = -117.490699; captureRadius = 10; duration = 50; initialDepth = 844.850986; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 101.098324 # Actual altitude: 100 # Commanded vehicle depth:800 # Seafloor depth:-899.312147 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 50.186748 meters # Minimum depth: 884.850986 meters looking forward 0.000000 meters along route # Maximum depth: 884.850986 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.771542; longitude = -117.490219; captureRadius = 10; duration = 50; initialDepth = 829.301309; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 99.312147 # Actual altitude: 99.312147 # Commanded vehicle depth:800 # Seafloor depth:-884.850986 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 397.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.72; MB_Bottom_Detect_Filter_Max_Range = 397.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 297.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 50.186748 meters # Minimum depth: 869.301309 meters looking forward 0.000000 meters along route # Maximum depth: 869.301309 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.771148; longitude = -117.489739; captureRadius = 10; duration = 50; initialDepth = 819.467187; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.850986 # Actual altitude: 84.850986 # Commanded vehicle depth:800 # Seafloor depth:-869.301309 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 339.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.94; MB_Bottom_Detect_Filter_Max_Range = 339.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 254.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 50.186748 meters # Minimum depth: 859.467187 meters looking forward 0.000000 meters along route # Maximum depth: 859.467187 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.770754; longitude = -117.489258; captureRadius = 10; duration = 50; initialDepth = 812.771740; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.3013089999999 # Actual altitude: 69.3013089999999 # Commanded vehicle depth:800 # Seafloor depth:-859.467187 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 277.21; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.72; MB_Bottom_Detect_Filter_Max_Range = 277.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 50.186748 meters # Minimum depth: 852.771740 meters looking forward 0.000000 meters along route # Maximum depth: 852.771740 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.770351; longitude = -117.488769; captureRadius = 10; duration = 50; initialDepth = 808.088417; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.467187 # Actual altitude: 59.467187 # Commanded vehicle depth:800 # Seafloor depth:-852.771740 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 237.87; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.79; MB_Bottom_Detect_Filter_Max_Range = 237.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 178.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 50.186748 meters # Minimum depth: 848.088417 meters looking forward 0.000000 meters along route # Maximum depth: 848.088417 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.769945; longitude = -117.488274; captureRadius = 10; duration = 50; initialDepth = 804.817870; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.77174 # Actual altitude: 52.77174 # Commanded vehicle depth:800 # Seafloor depth:-848.088417 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.09; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.11; MB_Bottom_Detect_Filter_Max_Range = 211.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 50.186748 meters # Minimum depth: 844.817870 meters looking forward 0.000000 meters along route # Maximum depth: 844.817870 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.769539; longitude = -117.487780; captureRadius = 10; duration = 50; initialDepth = 799.312454; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.088417 # Actual altitude: 50 # Commanded vehicle depth:800 # Seafloor depth:-844.817870 # 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 = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 50.186748 meters # Minimum depth: 839.312454 meters looking forward 0.000000 meters along route # Maximum depth: 839.312454 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 799.312454 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.769142; longitude = -117.487296; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 796.213817; finalDepth = 799.312454; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.81787 # Actual altitude: 50 # Commanded vehicle depth:799.312454 # Seafloor depth:-839.312454 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 836.213817 meters looking forward 0.000000 meters along route # Maximum depth: 836.213817 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 796.213817 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.768727; longitude = -117.487170; captureRadius = 10; duration = 50; initialDepth = 794.230294; finalDepth = 796.213817; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:796.213817 # Seafloor depth:-836.213817 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 834.230294 meters looking forward 0.000000 meters along route # Maximum depth: 834.230294 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 794.230294 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.768186; longitude = -117.487006; captureRadius = 10; duration = 50; initialDepth = 794.403236; finalDepth = 794.230294; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:794.230294 # Seafloor depth:-834.230294 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 834.403236 meters looking forward 0.000000 meters along route # Maximum depth: 834.403236 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 794.403236 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.767644; longitude = -117.486842; captureRadius = 10; duration = 50; initialDepth = 797.904496; finalDepth = 794.403236; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:794.403236 # Seafloor depth:-834.403236 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 837.904496 meters looking forward 0.000000 meters along route # Maximum depth: 837.904496 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 797.904496 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.767103; longitude = -117.486678; captureRadius = 10; duration = 50; initialDepth = 817.697148; finalDepth = 797.904496; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:797.904496 # Seafloor depth:-837.904496 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 857.697148 meters looking forward 0.000000 meters along route # Maximum depth: 857.697148 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.766562; longitude = -117.486513; captureRadius = 10; duration = 50; initialDepth = 807.780888; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.697148 # Actual altitude: 57.697148 # Commanded vehicle depth:800 # Seafloor depth:-857.697148 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 230.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.08; MB_Bottom_Detect_Filter_Max_Range = 230.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 173.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 50.186748 meters # Minimum depth: 847.780888 meters looking forward 0.000000 meters along route # Maximum depth: 847.780888 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.766113; longitude = -117.486377; captureRadius = 10; duration = 50; initialDepth = 805.656614; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.697148 # Actual altitude: 57.697148 # Commanded vehicle depth:800 # Seafloor depth:-847.780888 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 230.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.08; MB_Bottom_Detect_Filter_Max_Range = 230.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 173.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 50.186748 meters # Minimum depth: 845.656614 meters looking forward 0.000000 meters along route # Maximum depth: 845.656614 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.765586; longitude = -117.486217; captureRadius = 10; duration = 50; initialDepth = 818.359329; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.780888 # Actual altitude: 50 # Commanded vehicle depth:800 # Seafloor depth:-845.656614 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 858.359329 meters looking forward 0.000000 meters along route # Maximum depth: 858.359329 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.765058; longitude = -117.486057; captureRadius = 10; duration = 50; initialDepth = 819.496143; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.359329 # Actual altitude: 58.359329 # Commanded vehicle depth:800 # Seafloor depth:-858.359329 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 233.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.34; MB_Bottom_Detect_Filter_Max_Range = 233.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 50.186748 meters # Minimum depth: 859.496143 meters looking forward 0.000000 meters along route # Maximum depth: 859.496143 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.764530; longitude = -117.485897; captureRadius = 10; duration = 50; initialDepth = 819.589771; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.496143 # Actual altitude: 59.496143 # Commanded vehicle depth:800 # Seafloor depth:-859.496143 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 237.98; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.80; MB_Bottom_Detect_Filter_Max_Range = 237.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 178.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 50.186748 meters # Minimum depth: 859.589771 meters looking forward 0.000000 meters along route # Maximum depth: 859.589771 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.763990; longitude = -117.485734; captureRadius = 10; duration = 50; initialDepth = 806.743263; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.589771 # Actual altitude: 59.589771 # Commanded vehicle depth:800 # Seafloor depth:-859.589771 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 238.36; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.84; MB_Bottom_Detect_Filter_Max_Range = 238.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 178.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 50.186748 meters # Minimum depth: 846.743263 meters looking forward 0.000000 meters along route # Maximum depth: 846.743263 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.763449; longitude = -117.485569; captureRadius = 10; duration = 50; initialDepth = 806.483879; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.589771 # Actual altitude: 59.589771 # Commanded vehicle depth:800 # Seafloor depth:-846.743263 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 238.36; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.84; MB_Bottom_Detect_Filter_Max_Range = 238.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 178.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 50.186748 meters # Minimum depth: 846.483879 meters looking forward 0.000000 meters along route # Maximum depth: 846.483879 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.762908; longitude = -117.485405; captureRadius = 10; duration = 50; initialDepth = 819.116117; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.743263 # Actual altitude: 50 # Commanded vehicle depth:800 # Seafloor depth:-846.483879 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 859.116117 meters looking forward 0.000000 meters along route # Maximum depth: 859.116117 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.762366; longitude = -117.485241; captureRadius = 10; duration = 50; initialDepth = 804.228398; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.116117 # Actual altitude: 59.116117 # Commanded vehicle depth:800 # Seafloor depth:-859.116117 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 236.46; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.65; MB_Bottom_Detect_Filter_Max_Range = 236.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 177.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 50.186748 meters # Minimum depth: 844.228398 meters looking forward 0.000000 meters along route # Maximum depth: 844.228398 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.761825; longitude = -117.485077; captureRadius = 10; duration = 50; initialDepth = 800.419949; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.116117 # Actual altitude: 59.116117 # Commanded vehicle depth:800 # Seafloor depth:-844.228398 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 236.46; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.65; MB_Bottom_Detect_Filter_Max_Range = 236.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 177.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 50.186748 meters # Minimum depth: 840.419949 meters looking forward 0.000000 meters along route # Maximum depth: 840.419949 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.761283; longitude = -117.484913; captureRadius = 10; duration = 50; initialDepth = 796.378833; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.228398 # Actual altitude: 50 # Commanded vehicle depth:800 # Seafloor depth:-840.419949 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 836.378833 meters looking forward 0.000000 meters along route # Maximum depth: 836.378833 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 796.378833 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.760836; longitude = -117.484777; captureRadius = 10; duration = 50; initialDepth = 789.747296; finalDepth = 796.378833; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.419949 # Actual altitude: 50 # Commanded vehicle depth:796.378833 # Seafloor depth:-836.378833 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 829.747296 meters looking forward 0.000000 meters along route # Maximum depth: 829.747296 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 789.747296 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.760308; longitude = -117.484617; captureRadius = 10; duration = 50; initialDepth = 789.329966; finalDepth = 789.747296; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:789.747296 # Seafloor depth:-829.747296 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 829.329966 meters looking forward 0.000000 meters along route # Maximum depth: 829.329966 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 789.329966 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.759780; longitude = -117.484457; captureRadius = 10; duration = 50; initialDepth = 790.358749; finalDepth = 789.329966; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:789.329966 # Seafloor depth:-829.329966 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 830.358749 meters looking forward 0.000000 meters along route # Maximum depth: 830.358749 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 790.358749 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.759252; longitude = -117.484297; captureRadius = 10; duration = 50; initialDepth = 791.681521; finalDepth = 790.358749; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:790.358749 # Seafloor depth:-830.358749 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 831.681521 meters looking forward 0.000000 meters along route # Maximum depth: 831.681521 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 791.681521 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.758712; longitude = -117.484133; captureRadius = 10; duration = 50; initialDepth = 791.411330; finalDepth = 791.681521; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:791.681521 # Seafloor depth:-831.681521 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 831.411330 meters looking forward 0.000000 meters along route # Maximum depth: 831.411330 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 791.411330 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.758171; longitude = -117.483969; captureRadius = 10; duration = 50; initialDepth = 800.640186; finalDepth = 791.411330; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:791.41133 # Seafloor depth:-831.411330 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 840.640186 meters looking forward 0.000000 meters along route # Maximum depth: 840.640186 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.757629; longitude = -117.483804; captureRadius = 10; duration = 50; initialDepth = 793.807387; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.640186 # Actual altitude: 50 # Commanded vehicle depth:800 # Seafloor depth:-840.640186 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 833.807387 meters looking forward 0.000000 meters along route # Maximum depth: 833.807387 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 793.807387 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.757088; longitude = -117.483640; captureRadius = 10; duration = 50; initialDepth = 794.500260; finalDepth = 793.807387; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.640186 # Actual altitude: 50 # Commanded vehicle depth:793.807387 # Seafloor depth:-833.807387 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 834.500260 meters looking forward 0.000000 meters along route # Maximum depth: 834.500260 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 794.500260 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.756546; longitude = -117.483476; captureRadius = 10; duration = 50; initialDepth = 796.895290; finalDepth = 794.500260; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:794.50026 # Seafloor depth:-834.500260 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 836.895290 meters looking forward 0.000000 meters along route # Maximum depth: 836.895290 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 796.895290 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.756005; longitude = -117.483312; captureRadius = 10; duration = 50; initialDepth = 799.004766; finalDepth = 796.895290; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:796.89529 # Seafloor depth:-836.895290 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 839.004766 meters looking forward 0.000000 meters along route # Maximum depth: 839.004766 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 799.004766 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.755464; longitude = -117.483148; captureRadius = 10; duration = 50; initialDepth = 800.742317; finalDepth = 799.004766; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:799.004766 # Seafloor depth:-839.004766 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 840.742317 meters looking forward 0.000000 meters along route # Maximum depth: 840.742317 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.754922; longitude = -117.482984; captureRadius = 10; duration = 50; initialDepth = 803.141608; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.742317 # Actual altitude: 50 # Commanded vehicle depth:800 # Seafloor depth:-840.742317 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 843.141608 meters looking forward 0.000000 meters along route # Maximum depth: 843.141608 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.754381; longitude = -117.482819; captureRadius = 10; duration = 50; initialDepth = 803.590981; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.141608 # Actual altitude: 50 # Commanded vehicle depth:800 # Seafloor depth:-843.141608 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 843.590981 meters looking forward 0.000000 meters along route # Maximum depth: 843.590981 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.753840; longitude = -117.482655; captureRadius = 10; duration = 50; initialDepth = 804.139005; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.5909810000001 # Actual altitude: 50 # Commanded vehicle depth:800 # Seafloor depth:-843.590981 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 844.139005 meters looking forward 0.000000 meters along route # Maximum depth: 844.139005 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.753298; longitude = -117.482491; captureRadius = 10; duration = 50; initialDepth = 802.403661; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.139005 # Actual altitude: 50 # Commanded vehicle depth:800 # Seafloor depth:-844.139005 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 842.403661 meters looking forward 0.000000 meters along route # Maximum depth: 842.403661 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.752757; longitude = -117.482327; captureRadius = 10; duration = 50; initialDepth = 803.774433; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.139005 # Actual altitude: 50 # Commanded vehicle depth:800 # Seafloor depth:-842.403661 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 843.774433 meters looking forward 0.000000 meters along route # Maximum depth: 843.774433 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.752216; longitude = -117.482163; captureRadius = 10; duration = 50; initialDepth = 807.579743; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.774433 # Actual altitude: 50 # Commanded vehicle depth:800 # Seafloor depth:-843.774433 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 847.579743 meters looking forward 0.000000 meters along route # Maximum depth: 847.579743 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.751674; longitude = -117.481998; captureRadius = 10; duration = 50; initialDepth = 809.102036; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.579743 # Actual altitude: 50 # Commanded vehicle depth:800 # Seafloor depth:-847.579743 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 849.102036 meters looking forward 0.000000 meters along route # Maximum depth: 849.102036 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.751133; longitude = -117.481834; captureRadius = 10; duration = 50; initialDepth = 810.337509; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.102036 # Actual altitude: 50 # Commanded vehicle depth:800 # Seafloor depth:-849.102036 # 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 = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 50.186748 meters # Minimum depth: 850.337509 meters looking forward 0.000000 meters along route # Maximum depth: 850.337509 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.750624; longitude = -117.481680; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 809.647375; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.337509 # Actual altitude: 50.337509 # Commanded vehicle depth:800 # Seafloor depth:-850.337509 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.14; MB_Bottom_Detect_Filter_Max_Range = 201.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 50.186748 meters # Minimum depth: 849.647375 meters looking forward 0.000000 meters along route # Maximum depth: 849.647375 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 32.750185; longitude = -117.481483; captureRadius = 10; duration = 50; initialDepth = 799.228557; finalDepth = 800.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.337509 # Actual altitude: 50.337509 # Commanded vehicle depth:800 # Seafloor depth:-849.647375 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.14; MB_Bottom_Detect_Filter_Max_Range = 201.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 50.186748 meters # Minimum depth: 839.228557 meters looking forward 0.000000 meters along route # Maximum depth: 839.228557 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 799.228557 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.749644; longitude = -117.481239; captureRadius = 10; duration = 50; initialDepth = 758.136472; finalDepth = 799.228557; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.647375 # Actual altitude: 50 # Commanded vehicle depth:799.228557 # Seafloor depth:-839.228557 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 798.136472 meters looking forward 0.000000 meters along route # Maximum depth: 798.136472 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 758.136472 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.749103; longitude = -117.480995; captureRadius = 10; duration = 50; initialDepth = 750.390746; finalDepth = 758.136472; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:758.136472 # Seafloor depth:-798.136472 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 790.390746 meters looking forward 0.000000 meters along route # Maximum depth: 790.390746 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 750.390746 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.748614; longitude = -117.480776; captureRadius = 10; duration = 50; initialDepth = 747.682256; finalDepth = 750.390746; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:750.390746 # Seafloor depth:-790.390746 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 787.682256 meters looking forward 0.000000 meters along route # Maximum depth: 787.682256 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 747.682256 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.748155; longitude = -117.480569; captureRadius = 10; duration = 50; initialDepth = 737.823198; finalDepth = 747.682256; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:747.682256 # Seafloor depth:-787.682256 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 777.823198 meters looking forward 0.000000 meters along route # Maximum depth: 777.823198 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 737.823198 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.747614; longitude = -117.480325; captureRadius = 10; duration = 50; initialDepth = 732.943270; finalDepth = 737.823198; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:737.823198 # Seafloor depth:-777.823198 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 772.943270 meters looking forward 0.000000 meters along route # Maximum depth: 772.943270 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 732.943270 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.747192; longitude = -117.480135; captureRadius = 10; duration = 50; initialDepth = 723.991068; finalDepth = 732.943270; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:732.94327 # Seafloor depth:-772.943270 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 763.991068 meters looking forward 0.000000 meters along route # Maximum depth: 763.991068 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 723.991068 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.746667; longitude = -117.479899; captureRadius = 10; duration = 50; initialDepth = 713.705651; finalDepth = 723.991068; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:723.991068 # Seafloor depth:-763.991068 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 753.705651 meters looking forward 0.000000 meters along route # Maximum depth: 753.705651 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 713.705651 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.746125; longitude = -117.479655; captureRadius = 10; duration = 50; initialDepth = 708.307713; finalDepth = 713.705651; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:713.705651 # Seafloor depth:-753.705651 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 748.307713 meters looking forward 0.000000 meters along route # Maximum depth: 748.307713 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 708.307713 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.745584; longitude = -117.479412; captureRadius = 10; duration = 50; initialDepth = 706.767727; finalDepth = 708.307713; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:708.307713 # Seafloor depth:-748.307713 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 746.767727 meters looking forward 0.000000 meters along route # Maximum depth: 746.767727 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 706.767727 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.745042; longitude = -117.479168; captureRadius = 10; duration = 50; initialDepth = 710.486865; finalDepth = 706.767727; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:706.767727 # Seafloor depth:-746.767727 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 750.486865 meters looking forward 0.000000 meters along route # Maximum depth: 750.486865 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 710.486865 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.744501; longitude = -117.478924; captureRadius = 10; duration = 50; initialDepth = 709.460071; finalDepth = 710.486865; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:710.486865 # Seafloor depth:-750.486865 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 749.460071 meters looking forward 0.000000 meters along route # Maximum depth: 749.460071 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 709.460071 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.743960; longitude = -117.478681; captureRadius = 10; duration = 50; initialDepth = 711.345974; finalDepth = 709.460071; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:709.460071 # Seafloor depth:-749.460071 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 751.345974 meters looking forward 0.000000 meters along route # Maximum depth: 751.345974 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 711.345974 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.743418; longitude = -117.478437; captureRadius = 10; duration = 50; initialDepth = 710.791139; finalDepth = 711.345974; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:711.345974 # Seafloor depth:-751.345974 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 750.791139 meters looking forward 0.000000 meters along route # Maximum depth: 750.791139 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 710.791139 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.742924; longitude = -117.478215; captureRadius = 10; duration = 50; initialDepth = 710.462021; finalDepth = 710.791139; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:710.791139 # Seafloor depth:-750.791139 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 750.462021 meters looking forward 0.000000 meters along route # Maximum depth: 750.462021 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 710.462021 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.742471; longitude = -117.478011; captureRadius = 10; duration = 50; initialDepth = 708.085826; finalDepth = 710.462021; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:710.462021 # Seafloor depth:-750.462021 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 748.085826 meters looking forward 0.000000 meters along route # Maximum depth: 748.085826 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 708.085826 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.741930; longitude = -117.477767; captureRadius = 10; duration = 50; initialDepth = 706.546307; finalDepth = 708.085826; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:708.085826 # Seafloor depth:-748.085826 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 746.546307 meters looking forward 0.000000 meters along route # Maximum depth: 746.546307 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 706.546307 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.741502; longitude = -117.477574; captureRadius = 10; duration = 50; initialDepth = 705.063968; finalDepth = 706.546307; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:706.546307 # Seafloor depth:-746.546307 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 745.063968 meters looking forward 0.000000 meters along route # Maximum depth: 745.063968 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 705.063968 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.740982; longitude = -117.477341; captureRadius = 10; duration = 50; initialDepth = 704.705217; finalDepth = 705.063968; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:705.063968 # Seafloor depth:-745.063968 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 744.705217 meters looking forward 0.000000 meters along route # Maximum depth: 744.705217 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 704.705217 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.740435; longitude = -117.477094; captureRadius = 10; duration = 50; initialDepth = 702.058905; finalDepth = 704.705217; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:704.705217 # Seafloor depth:-744.705217 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 742.058905 meters looking forward 0.000000 meters along route # Maximum depth: 742.058905 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 702.058905 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.739899; longitude = -117.476853; captureRadius = 10; duration = 50; initialDepth = 698.858743; finalDepth = 702.058905; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:702.058905 # Seafloor depth:-742.058905 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 738.858743 meters looking forward 0.000000 meters along route # Maximum depth: 738.858743 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 698.858743 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.739358; longitude = -117.476610; captureRadius = 10; duration = 50; initialDepth = 694.249808; finalDepth = 698.858743; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:698.858743 # Seafloor depth:-738.858743 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 734.249808 meters looking forward 0.000000 meters along route # Maximum depth: 734.249808 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 694.249808 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.738817; longitude = -117.476366; captureRadius = 10; duration = 50; initialDepth = 688.407164; finalDepth = 694.249808; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:694.249808 # Seafloor depth:-734.249808 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 728.407164 meters looking forward 0.000000 meters along route # Maximum depth: 728.407164 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 688.407164 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.738275; longitude = -117.476122; captureRadius = 10; duration = 50; initialDepth = 688.010756; finalDepth = 688.407164; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:688.407164 # Seafloor depth:-728.407164 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 728.010756 meters looking forward 0.000000 meters along route # Maximum depth: 728.010756 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 688.010756 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.737734; longitude = -117.475879; captureRadius = 10; duration = 50; initialDepth = 687.072469; finalDepth = 688.010756; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:688.010756 # Seafloor depth:-728.010756 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 727.072469 meters looking forward 0.000000 meters along route # Maximum depth: 727.072469 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 687.072469 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.737234; longitude = -117.475654; captureRadius = 10; duration = 50; initialDepth = 689.615801; finalDepth = 687.072469; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:687.072469 # Seafloor depth:-727.072469 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 729.615801 meters looking forward 0.000000 meters along route # Maximum depth: 729.615801 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 689.615801 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.736787; longitude = -117.475452; captureRadius = 10; duration = 50; initialDepth = 693.318308; finalDepth = 689.615801; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:689.615801 # Seafloor depth:-729.615801 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 733.318308 meters looking forward 0.000000 meters along route # Maximum depth: 733.318308 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 693.318308 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.736245; longitude = -117.475209; captureRadius = 10; duration = 50; initialDepth = 693.553402; finalDepth = 693.318308; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:693.318308 # Seafloor depth:-733.318308 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 733.553402 meters looking forward 0.000000 meters along route # Maximum depth: 733.553402 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 693.553402 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.735811; longitude = -117.475013; captureRadius = 10; duration = 50; initialDepth = 694.865952; finalDepth = 693.553402; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:693.553402 # Seafloor depth:-733.553402 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 734.865952 meters looking forward 0.000000 meters along route # Maximum depth: 734.865952 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 694.865952 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.735298; longitude = -117.474782; captureRadius = 10; duration = 50; initialDepth = 696.010050; finalDepth = 694.865952; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:694.865952 # Seafloor depth:-734.865952 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 736.010050 meters looking forward 0.000000 meters along route # Maximum depth: 736.010050 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 696.010050 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.734745; longitude = -117.474533; captureRadius = 10; duration = 50; initialDepth = 699.018035; finalDepth = 696.010050; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:696.01005 # Seafloor depth:-736.010050 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 739.018035 meters looking forward 0.000000 meters along route # Maximum depth: 739.018035 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 699.018035 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.734215; longitude = -117.474295; captureRadius = 10; duration = 50; initialDepth = 700.292974; finalDepth = 699.018035; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:699.018035 # Seafloor depth:-739.018035 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 740.292974 meters looking forward 0.000000 meters along route # Maximum depth: 740.292974 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.292974 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.733674; longitude = -117.474051; captureRadius = 10; duration = 50; initialDepth = 701.122147; finalDepth = 700.292974; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:700.292974 # Seafloor depth:-740.292974 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 741.122147 meters looking forward 0.000000 meters along route # Maximum depth: 741.122147 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 701.122147 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.733132; longitude = -117.473808; captureRadius = 10; duration = 50; initialDepth = 703.264958; finalDepth = 701.122147; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:701.122147 # Seafloor depth:-741.122147 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 743.264958 meters looking forward 0.000000 meters along route # Maximum depth: 743.264958 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 703.264958 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.732591; longitude = -117.473564; captureRadius = 10; duration = 50; initialDepth = 706.832532; finalDepth = 703.264958; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:703.264958 # Seafloor depth:-743.264958 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 746.832532 meters looking forward 0.000000 meters along route # Maximum depth: 746.832532 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 706.832532 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.732050; longitude = -117.473320; captureRadius = 10; duration = 50; initialDepth = 708.944579; finalDepth = 706.832532; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:706.832532 # Seafloor depth:-746.832532 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 748.944579 meters looking forward 0.000000 meters along route # Maximum depth: 748.944579 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 708.944579 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.731508; longitude = -117.473077; captureRadius = 10; duration = 50; initialDepth = 709.696579; finalDepth = 708.944579; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:708.944579 # Seafloor depth:-748.944579 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 749.696579 meters looking forward 0.000000 meters along route # Maximum depth: 749.696579 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 709.696579 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.730967; longitude = -117.472833; captureRadius = 10; duration = 50; initialDepth = 710.735801; finalDepth = 709.696579; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:709.696579 # Seafloor depth:-749.696579 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 750.735801 meters looking forward 0.000000 meters along route # Maximum depth: 750.735801 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 710.735801 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.730477; longitude = -117.472613; captureRadius = 10; duration = 50; initialDepth = 709.221516; finalDepth = 710.735801; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:710.735801 # Seafloor depth:-750.735801 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 749.221516 meters looking forward 0.000000 meters along route # Maximum depth: 749.221516 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 709.221516 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.730020; longitude = -117.472407; captureRadius = 10; duration = 50; initialDepth = 709.413088; finalDepth = 709.221516; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:709.221516 # Seafloor depth:-749.221516 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 749.413088 meters looking forward 0.000000 meters along route # Maximum depth: 749.413088 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 709.413088 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.729478; longitude = -117.472163; captureRadius = 10; duration = 50; initialDepth = 706.206358; finalDepth = 709.413088; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:709.413088 # Seafloor depth:-749.413088 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 746.206358 meters looking forward 0.000000 meters along route # Maximum depth: 746.206358 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 706.206358 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.729054; longitude = -117.471972; captureRadius = 10; duration = 50; initialDepth = 706.026582; finalDepth = 706.206358; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:706.206358 # Seafloor depth:-746.206358 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 746.026582 meters looking forward 0.000000 meters along route # Maximum depth: 746.026582 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 706.026582 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.728531; longitude = -117.471737; captureRadius = 10; duration = 50; initialDepth = 702.819771; finalDepth = 706.026582; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:706.026582 # Seafloor depth:-746.026582 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 742.819771 meters looking forward 0.000000 meters along route # Maximum depth: 742.819771 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 702.819771 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.727987; longitude = -117.471492; captureRadius = 10; duration = 50; initialDepth = 698.160336; finalDepth = 702.819771; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:702.819771 # Seafloor depth:-742.819771 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 738.160336 meters looking forward 0.000000 meters along route # Maximum depth: 738.160336 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 698.160336 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.727448; longitude = -117.471249; captureRadius = 10; duration = 50; initialDepth = 703.750979; finalDepth = 698.160336; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:698.160336 # Seafloor depth:-738.160336 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 743.750979 meters looking forward 0.000000 meters along route # Maximum depth: 743.750979 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 703.750979 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.726907; longitude = -117.471006; captureRadius = 10; duration = 50; initialDepth = 709.502670; finalDepth = 703.750979; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:703.750979 # Seafloor depth:-743.750979 # 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 = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 50.186748 meters # Minimum depth: 749.502670 meters looking forward 0.000000 meters along route # Maximum depth: 749.502670 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 709.502670 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.726456; longitude = -117.470803; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 717.554418; finalDepth = 709.502670; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:709.50267 # Seafloor depth:-749.502670 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 757.554418 meters looking forward 0.000000 meters along route # Maximum depth: 757.554418 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 717.554418 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.725977; longitude = -117.470532; captureRadius = 10; duration = 50; initialDepth = 723.466650; finalDepth = 717.554418; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:717.554418 # Seafloor depth:-757.554418 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 763.466650 meters looking forward 0.000000 meters along route # Maximum depth: 763.466650 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 723.466650 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.725553; longitude = -117.470292; captureRadius = 10; duration = 50; initialDepth = 722.979623; finalDepth = 723.466650; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:723.46665 # Seafloor depth:-763.466650 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 762.979623 meters looking forward 0.000000 meters along route # Maximum depth: 762.979623 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 722.979623 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.725012; longitude = -117.469985; captureRadius = 10; duration = 50; initialDepth = 703.585560; finalDepth = 722.979623; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:722.979623 # Seafloor depth:-762.979623 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 743.585560 meters looking forward 0.000000 meters along route # Maximum depth: 743.585560 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 703.585560 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.724471; longitude = -117.469679; captureRadius = 10; duration = 50; initialDepth = 679.215245; finalDepth = 703.585560; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:703.58556 # Seafloor depth:-743.585560 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 719.215245 meters looking forward 0.000000 meters along route # Maximum depth: 719.215245 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 679.215245 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.723929; longitude = -117.469372; captureRadius = 10; duration = 50; initialDepth = 664.165485; finalDepth = 679.215245; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:679.215245 # Seafloor depth:-719.215245 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 704.165485 meters looking forward 0.000000 meters along route # Maximum depth: 704.165485 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 664.165485 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.723388; longitude = -117.469066; captureRadius = 10; duration = 50; initialDepth = 645.411203; finalDepth = 664.165485; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:664.165485 # Seafloor depth:-704.165485 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 685.411203 meters looking forward 0.000000 meters along route # Maximum depth: 685.411203 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 645.411203 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.722868; longitude = -117.468771; captureRadius = 10; duration = 50; initialDepth = 637.462992; finalDepth = 645.411203; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:645.411203 # Seafloor depth:-685.411203 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 677.462992 meters looking forward 0.000000 meters along route # Maximum depth: 677.462992 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 637.462992 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.722440; longitude = -117.468529; captureRadius = 10; duration = 50; initialDepth = 633.191047; finalDepth = 637.462992; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:637.462992 # Seafloor depth:-677.462992 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 673.191047 meters looking forward 0.000000 meters along route # Maximum depth: 673.191047 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 633.191047 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.721899; longitude = -117.468223; captureRadius = 10; duration = 50; initialDepth = 629.456536; finalDepth = 633.191047; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:633.191047 # Seafloor depth:-673.191047 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 669.456536 meters looking forward 0.000000 meters along route # Maximum depth: 669.456536 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 629.456536 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.721358; longitude = -117.467916; captureRadius = 10; duration = 50; initialDepth = 627.622769; finalDepth = 629.456536; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:629.456536 # Seafloor depth:-669.456536 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 667.622769 meters looking forward 0.000000 meters along route # Maximum depth: 667.622769 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 627.622769 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.720816; longitude = -117.467610; captureRadius = 10; duration = 50; initialDepth = 626.750212; finalDepth = 627.622769; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:627.622769 # Seafloor depth:-667.622769 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 666.750212 meters looking forward 0.000000 meters along route # Maximum depth: 666.750212 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 626.750212 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.720275; longitude = -117.467303; captureRadius = 10; duration = 50; initialDepth = 638.458467; finalDepth = 626.750212; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:626.750212 # Seafloor depth:-666.750212 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 678.458467 meters looking forward 0.000000 meters along route # Maximum depth: 678.458467 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 638.458467 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.719758; longitude = -117.467011; captureRadius = 10; duration = 50; initialDepth = 641.893319; finalDepth = 638.458467; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:638.458467 # Seafloor depth:-678.458467 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 681.893319 meters looking forward 0.000000 meters along route # Maximum depth: 681.893319 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 641.893319 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.719328; longitude = -117.466767; captureRadius = 10; duration = 50; initialDepth = 644.410723; finalDepth = 641.893319; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:641.893319 # Seafloor depth:-681.893319 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 684.410723 meters looking forward 0.000000 meters along route # Maximum depth: 684.410723 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 644.410723 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.718786; longitude = -117.466461; captureRadius = 10; duration = 50; initialDepth = 643.899977; finalDepth = 644.410723; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:644.410723 # Seafloor depth:-684.410723 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 683.899977 meters looking forward 0.000000 meters along route # Maximum depth: 683.899977 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 643.899977 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.718344; longitude = -117.466210; captureRadius = 10; duration = 50; initialDepth = 646.145630; finalDepth = 643.899977; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:643.899977 # Seafloor depth:-683.899977 # 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 = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 50.186748 meters # Minimum depth: 686.145630 meters looking forward 0.000000 meters along route # Maximum depth: 686.145630 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 646.145630 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.717918; longitude = -117.465969; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 646.207542; finalDepth = 646.145630; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:646.14563 # Seafloor depth:-686.145630 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 686.207542 meters looking forward 0.000000 meters along route # Maximum depth: 686.207542 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 646.207542 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.717819; longitude = -117.465890; captureRadius = 10; duration = 50; initialDepth = 646.653855; finalDepth = 646.207542; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:646.207542 # Seafloor depth:-686.207542 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 686.653855 meters looking forward 0.000000 meters along route # Maximum depth: 686.653855 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 646.653855 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.717417; longitude = -117.465570; captureRadius = 10; duration = 50; initialDepth = 646.629537; finalDepth = 646.653855; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:646.653855 # Seafloor depth:-686.653855 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 686.629537 meters looking forward 0.000000 meters along route # Maximum depth: 686.629537 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 646.629537 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.717015; longitude = -117.465250; captureRadius = 10; duration = 50; initialDepth = 640.799339; finalDepth = 646.629537; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:646.629537 # Seafloor depth:-686.629537 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 680.799339 meters looking forward 0.000000 meters along route # Maximum depth: 680.799339 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 640.799339 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.716614; longitude = -117.464930; captureRadius = 10; duration = 50; initialDepth = 632.096150; finalDepth = 640.799339; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:640.799339 # Seafloor depth:-680.799339 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 672.096150 meters looking forward 0.000000 meters along route # Maximum depth: 672.096150 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 632.096150 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.716212; longitude = -117.464610; captureRadius = 10; duration = 50; initialDepth = 626.857381; finalDepth = 632.096150; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:632.09615 # Seafloor depth:-672.096150 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 666.857381 meters looking forward 0.000000 meters along route # Maximum depth: 666.857381 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 626.857381 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.715809; longitude = -117.464289; captureRadius = 10; duration = 50; initialDepth = 621.386463; finalDepth = 626.857381; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:626.857381 # Seafloor depth:-666.857381 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 661.386463 meters looking forward 0.000000 meters along route # Maximum depth: 661.386463 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 621.386463 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.715403; longitude = -117.463965; captureRadius = 10; duration = 50; initialDepth = 617.405134; finalDepth = 621.386463; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:621.386463 # Seafloor depth:-661.386463 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 657.405134 meters looking forward 0.000000 meters along route # Maximum depth: 657.405134 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 617.405134 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.714997; longitude = -117.463642; captureRadius = 10; duration = 50; initialDepth = 613.754579; finalDepth = 617.405134; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:617.405134 # Seafloor depth:-657.405134 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 653.754579 meters looking forward 0.000000 meters along route # Maximum depth: 653.754579 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 613.754579 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.714591; longitude = -117.463319; captureRadius = 10; duration = 50; initialDepth = 607.898905; finalDepth = 613.754579; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:613.754579 # Seafloor depth:-653.754579 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 647.898905 meters looking forward 0.000000 meters along route # Maximum depth: 647.898905 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 607.898905 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.714185; longitude = -117.462995; captureRadius = 10; duration = 50; initialDepth = 605.069959; finalDepth = 607.898905; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:607.898905 # Seafloor depth:-647.898905 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 645.069959 meters looking forward 0.000000 meters along route # Maximum depth: 645.069959 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 605.069959 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.713779; longitude = -117.462672; captureRadius = 10; duration = 50; initialDepth = 600.613471; finalDepth = 605.069959; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:605.069959 # Seafloor depth:-645.069959 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 640.613471 meters looking forward 0.000000 meters along route # Maximum depth: 640.613471 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 600.613471 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.713373; longitude = -117.462348; captureRadius = 10; duration = 50; initialDepth = 596.187567; finalDepth = 600.613471; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:600.613471 # Seafloor depth:-640.613471 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 636.187567 meters looking forward 0.000000 meters along route # Maximum depth: 636.187567 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 596.187567 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.712997; longitude = -117.462049; captureRadius = 10; duration = 50; initialDepth = 594.297310; finalDepth = 596.187567; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:596.187567 # Seafloor depth:-636.187567 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 634.297310 meters looking forward 0.000000 meters along route # Maximum depth: 634.297310 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 594.297310 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.712595; longitude = -117.461729; captureRadius = 10; duration = 50; initialDepth = 592.857498; finalDepth = 594.297310; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:594.29731 # Seafloor depth:-634.297310 # 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 = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 50.186748 meters # Minimum depth: 632.857498 meters looking forward 0.000000 meters along route # Maximum depth: 632.857498 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 592.857498 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.712207; longitude = -117.461420; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 592.617482; finalDepth = 592.857498; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:592.857498 # Seafloor depth:-632.857498 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 50.186748 meters # Minimum depth: 632.617482 meters looking forward 0.000000 meters along route # Maximum depth: 632.617482 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 592.617482 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.712198; longitude = -117.461409; captureRadius = 10; duration = 50; initialDepth = 587.624115; finalDepth = 592.617482; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:592.617482 # Seafloor depth:-632.617482 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 50.186748 meters # Minimum depth: 627.624115 meters looking forward 0.000000 meters along route # Maximum depth: 627.624115 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 587.624115 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.711884; longitude = -117.461003; captureRadius = 10; duration = 50; initialDepth = 585.390751; finalDepth = 587.624115; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:587.624115 # Seafloor depth:-627.624115 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 50.186748 meters # Minimum depth: 625.390751 meters looking forward 0.000000 meters along route # Maximum depth: 625.390751 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 585.390751 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.711579; longitude = -117.460608; captureRadius = 10; duration = 50; initialDepth = 584.051784; finalDepth = 585.390751; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:585.390751 # Seafloor depth:-625.390751 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 50.186748 meters # Minimum depth: 624.051784 meters looking forward 0.000000 meters along route # Maximum depth: 624.051784 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 584.051784 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.711207; longitude = -117.460128; captureRadius = 10; duration = 50; initialDepth = 582.649163; finalDepth = 584.051784; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:584.051784 # Seafloor depth:-624.051784 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 50.186748 meters # Minimum depth: 622.649163 meters looking forward 0.000000 meters along route # Maximum depth: 622.649163 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 582.649163 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.710801; longitude = -117.459604; captureRadius = 10; duration = 50; initialDepth = 577.103321; finalDepth = 582.649163; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:582.649163 # Seafloor depth:-622.649163 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 50.186748 meters # Minimum depth: 617.103321 meters looking forward 0.000000 meters along route # Maximum depth: 617.103321 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 577.103321 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.710463; longitude = -117.459168; captureRadius = 10; duration = 50; initialDepth = 575.418787; finalDepth = 577.103321; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:577.103321 # Seafloor depth:-617.103321 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 50.186748 meters # Minimum depth: 615.418787 meters looking forward 0.000000 meters along route # Maximum depth: 615.418787 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 575.418787 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.710091; longitude = -117.458688; captureRadius = 10; duration = 50; initialDepth = 573.974972; finalDepth = 575.418787; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:575.418787 # Seafloor depth:-615.418787 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 50.186748 meters # Minimum depth: 613.974972 meters looking forward 0.000000 meters along route # Maximum depth: 613.974972 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 573.974972 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.709718; longitude = -117.458206; captureRadius = 10; duration = 50; initialDepth = 570.078317; finalDepth = 573.974972; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:573.974972 # Seafloor depth:-613.974972 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 50.186748 meters # Minimum depth: 610.078317 meters looking forward 0.000000 meters along route # Maximum depth: 610.078317 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 570.078317 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.709348; longitude = -117.457727; captureRadius = 10; duration = 50; initialDepth = 573.705222; finalDepth = 570.078317; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:570.078317 # Seafloor depth:-610.078317 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 50.186748 meters # Minimum depth: 613.705222 meters looking forward 0.000000 meters along route # Maximum depth: 613.705222 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 573.705222 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.709042; longitude = -117.457332; captureRadius = 10; duration = 50; initialDepth = 569.956066; finalDepth = 573.705222; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:573.705222 # Seafloor depth:-613.705222 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 50.186748 meters # Minimum depth: 609.956066 meters looking forward 0.000000 meters along route # Maximum depth: 609.956066 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 569.956066 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.708728; longitude = -117.456927; captureRadius = 10; duration = 50; initialDepth = 567.148536; finalDepth = 569.956066; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:569.956066 # Seafloor depth:-609.956066 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 50.186748 meters # Minimum depth: 607.148536 meters looking forward 0.000000 meters along route # Maximum depth: 607.148536 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 567.148536 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.708357; longitude = -117.456447; captureRadius = 10; duration = 50; initialDepth = 568.237861; finalDepth = 567.148536; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:567.148536 # Seafloor depth:-607.148536 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 50.186748 meters # Minimum depth: 608.237861 meters looking forward 0.000000 meters along route # Maximum depth: 608.237861 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 568.237861 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.707959; longitude = -117.455933; captureRadius = 10; duration = 50; initialDepth = 566.606644; finalDepth = 568.237861; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:568.237861 # Seafloor depth:-608.237861 # 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 = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 50.186748 meters # Minimum depth: 606.606644 meters looking forward 0.000000 meters along route # Maximum depth: 606.606644 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 566.606644 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.707638; longitude = -117.455519; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 564.416435; finalDepth = 566.606644; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:566.606644 # Seafloor depth:-606.606644 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 604.416435 meters looking forward 0.000000 meters along route # Maximum depth: 604.416435 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 564.416435 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.707588; longitude = -117.455006; captureRadius = 10; duration = 50; initialDepth = 559.487731; finalDepth = 564.416435; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:564.416435 # Seafloor depth:-604.416435 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 599.487731 meters looking forward 0.000000 meters along route # Maximum depth: 599.487731 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 559.487731 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.707526; longitude = -117.454366; captureRadius = 10; duration = 50; initialDepth = 554.714823; finalDepth = 559.487731; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:559.487731 # Seafloor depth:-599.487731 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 594.714823 meters looking forward 0.000000 meters along route # Maximum depth: 594.714823 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 554.714823 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.707464; longitude = -117.453726; captureRadius = 10; duration = 50; initialDepth = 553.207414; finalDepth = 554.714823; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:554.714823 # Seafloor depth:-594.714823 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 593.207414 meters looking forward 0.000000 meters along route # Maximum depth: 593.207414 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 553.207414 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.707402; longitude = -117.453086; captureRadius = 10; duration = 50; initialDepth = 548.412706; finalDepth = 553.207414; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:553.207414 # Seafloor depth:-593.207414 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 588.412706 meters looking forward 0.000000 meters along route # Maximum depth: 588.412706 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 548.412706 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.707339; longitude = -117.452446; captureRadius = 10; duration = 50; initialDepth = 546.691339; finalDepth = 548.412706; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:548.412706 # Seafloor depth:-588.412706 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 586.691339 meters looking forward 0.000000 meters along route # Maximum depth: 586.691339 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 546.691339 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.707282; longitude = -117.451856; captureRadius = 10; duration = 50; initialDepth = 545.796836; finalDepth = 546.691339; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:546.691339 # Seafloor depth:-586.691339 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 585.796836 meters looking forward 0.000000 meters along route # Maximum depth: 585.796836 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 545.796836 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.707231; longitude = -117.451325; captureRadius = 10; duration = 50; initialDepth = 545.855132; finalDepth = 545.796836; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:545.796836 # Seafloor depth:-585.796836 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 585.855132 meters looking forward 0.000000 meters along route # Maximum depth: 585.855132 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 545.855132 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.707168; longitude = -117.450685; captureRadius = 10; duration = 50; initialDepth = 545.595380; finalDepth = 545.855132; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:545.855132 # Seafloor depth:-585.855132 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 585.595380 meters looking forward 0.000000 meters along route # Maximum depth: 585.595380 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 545.595380 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.707106; longitude = -117.450045; captureRadius = 10; duration = 50; initialDepth = 544.779129; finalDepth = 545.595380; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:545.59538 # Seafloor depth:-585.595380 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 584.779129 meters looking forward 0.000000 meters along route # Maximum depth: 584.779129 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 544.779129 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.707044; longitude = -117.449405; captureRadius = 10; duration = 50; initialDepth = 543.833942; finalDepth = 544.779129; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:544.779129 # Seafloor depth:-584.779129 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 583.833942 meters looking forward 0.000000 meters along route # Maximum depth: 583.833942 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 543.833942 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.706982; longitude = -117.448764; captureRadius = 10; duration = 50; initialDepth = 543.385659; finalDepth = 543.833942; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:543.833942 # Seafloor depth:-583.833942 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 583.385659 meters looking forward 0.000000 meters along route # Maximum depth: 583.385659 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 543.385659 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.706920; longitude = -117.448124; captureRadius = 10; duration = 50; initialDepth = 543.829605; finalDepth = 543.385659; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:543.385659 # Seafloor depth:-583.385659 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 583.829605 meters looking forward 0.000000 meters along route # Maximum depth: 583.829605 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 543.829605 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.706857; longitude = -117.447484; captureRadius = 10; duration = 50; initialDepth = 543.754674; finalDepth = 543.829605; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:543.829605 # Seafloor depth:-583.829605 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 583.754674 meters looking forward 0.000000 meters along route # Maximum depth: 583.754674 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 543.754674 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.706795; longitude = -117.446844; captureRadius = 10; duration = 50; initialDepth = 542.985890; finalDepth = 543.754674; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:543.754674 # Seafloor depth:-583.754674 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 582.985890 meters looking forward 0.000000 meters along route # Maximum depth: 582.985890 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 542.985890 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.706733; longitude = -117.446203; captureRadius = 10; duration = 50; initialDepth = 539.838505; finalDepth = 542.985890; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:542.98589 # Seafloor depth:-582.985890 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 579.838505 meters looking forward 0.000000 meters along route # Maximum depth: 579.838505 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 539.838505 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.706671; longitude = -117.445563; captureRadius = 10; duration = 50; initialDepth = 539.281906; finalDepth = 539.838505; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:539.838505 # Seafloor depth:-579.838505 # 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 = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 50.186748 meters # Minimum depth: 579.281906 meters looking forward 0.000000 meters along route # Maximum depth: 579.281906 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 539.281906 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.706616; longitude = -117.444998; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 539.922565; finalDepth = 539.281906; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:539.281906 # Seafloor depth:-579.281906 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 579.922565 meters looking forward 0.000000 meters along route # Maximum depth: 579.922565 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 539.922565 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.706647; longitude = -117.444603; captureRadius = 10; duration = 50; initialDepth = 541.159083; finalDepth = 539.922565; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:539.922565 # Seafloor depth:-579.922565 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 581.159083 meters looking forward 0.000000 meters along route # Maximum depth: 581.159083 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 541.159083 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.706696; longitude = -117.443963; captureRadius = 10; duration = 50; initialDepth = 541.467009; finalDepth = 541.159083; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:541.159083 # Seafloor depth:-581.159083 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 581.467009 meters looking forward 0.000000 meters along route # Maximum depth: 581.467009 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 541.467009 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.706746; longitude = -117.443322; captureRadius = 10; duration = 50; initialDepth = 540.174147; finalDepth = 541.467009; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:541.467009 # Seafloor depth:-581.467009 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 580.174147 meters looking forward 0.000000 meters along route # Maximum depth: 580.174147 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 540.174147 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.706796; longitude = -117.442682; captureRadius = 10; duration = 50; initialDepth = 539.549650; finalDepth = 540.174147; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:540.174147 # Seafloor depth:-580.174147 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 579.549650 meters looking forward 0.000000 meters along route # Maximum depth: 579.549650 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 539.549650 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.706846; longitude = -117.442042; captureRadius = 10; duration = 50; initialDepth = 539.470243; finalDepth = 539.549650; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:539.54965 # Seafloor depth:-579.549650 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 579.470243 meters looking forward 0.000000 meters along route # Maximum depth: 579.470243 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 539.470243 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.706895; longitude = -117.441402; captureRadius = 10; duration = 50; initialDepth = 539.088988; finalDepth = 539.470243; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:539.470243 # Seafloor depth:-579.470243 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 579.088988 meters looking forward 0.000000 meters along route # Maximum depth: 579.088988 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 539.088988 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.706945; longitude = -117.440761; captureRadius = 10; duration = 50; initialDepth = 537.660427; finalDepth = 539.088988; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:539.088988 # Seafloor depth:-579.088988 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 577.660427 meters looking forward 0.000000 meters along route # Maximum depth: 577.660427 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 537.660427 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.706995; longitude = -117.440121; captureRadius = 10; duration = 50; initialDepth = 534.169393; finalDepth = 537.660427; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:537.660427 # Seafloor depth:-577.660427 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 574.169393 meters looking forward 0.000000 meters along route # Maximum depth: 574.169393 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 534.169393 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.707045; longitude = -117.439481; captureRadius = 10; duration = 50; initialDepth = 530.085693; finalDepth = 534.169393; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:534.169393 # Seafloor depth:-574.169393 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 570.085693 meters looking forward 0.000000 meters along route # Maximum depth: 570.085693 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 530.085693 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.707094; longitude = -117.438841; captureRadius = 10; duration = 50; initialDepth = 523.257792; finalDepth = 530.085693; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:530.085693 # Seafloor depth:-570.085693 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 563.257792 meters looking forward 0.000000 meters along route # Maximum depth: 563.257792 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 523.257792 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.707147; longitude = -117.438167; captureRadius = 10; duration = 50; initialDepth = 516.503317; finalDepth = 523.257792; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:523.257792 # Seafloor depth:-563.257792 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 556.503317 meters looking forward 0.000000 meters along route # Maximum depth: 556.503317 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 516.503317 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.707194; longitude = -117.437560; captureRadius = 10; duration = 50; initialDepth = 511.269082; finalDepth = 516.503317; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:516.503317 # Seafloor depth:-556.503317 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 551.269082 meters looking forward 0.000000 meters along route # Maximum depth: 551.269082 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 511.269082 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.707244; longitude = -117.436920; captureRadius = 10; duration = 50; initialDepth = 508.643079; finalDepth = 511.269082; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:511.269082 # Seafloor depth:-551.269082 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 548.643079 meters looking forward 0.000000 meters along route # Maximum depth: 548.643079 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 508.643079 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.707294; longitude = -117.436280; captureRadius = 10; duration = 50; initialDepth = 507.689198; finalDepth = 508.643079; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:508.643079 # Seafloor depth:-548.643079 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 547.689198 meters looking forward 0.000000 meters along route # Maximum depth: 547.689198 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 507.689198 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.707343; longitude = -117.435640; captureRadius = 10; duration = 50; initialDepth = 507.173501; finalDepth = 507.689198; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:507.689198 # Seafloor depth:-547.689198 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 547.173501 meters looking forward 0.000000 meters along route # Maximum depth: 547.173501 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 507.173501 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.707393; longitude = -117.434999; captureRadius = 10; duration = 50; initialDepth = 505.079046; finalDepth = 507.173501; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:507.173501 # Seafloor depth:-547.173501 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 545.079046 meters looking forward 0.000000 meters along route # Maximum depth: 545.079046 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 505.079046 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.707443; longitude = -117.434359; captureRadius = 10; duration = 50; initialDepth = 502.856060; finalDepth = 505.079046; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:505.079046 # Seafloor depth:-545.079046 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 542.856060 meters looking forward 0.000000 meters along route # Maximum depth: 542.856060 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 502.856060 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.707493; longitude = -117.433719; captureRadius = 10; duration = 50; initialDepth = 500.832562; finalDepth = 502.856060; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:502.85606 # Seafloor depth:-542.856060 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 540.832562 meters looking forward 0.000000 meters along route # Maximum depth: 540.832562 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 500.832562 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.707542; longitude = -117.433079; captureRadius = 10; duration = 50; initialDepth = 498.176856; finalDepth = 500.832562; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:500.832562 # Seafloor depth:-540.832562 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 538.176856 meters looking forward 0.000000 meters along route # Maximum depth: 538.176856 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 498.176856 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.707592; longitude = -117.432439; captureRadius = 10; duration = 50; initialDepth = 496.457474; finalDepth = 498.176856; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:498.176856 # Seafloor depth:-538.176856 # 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 = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 50.186748 meters # Minimum depth: 536.457474 meters looking forward 0.000000 meters along route # Maximum depth: 536.457474 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 496.457474 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.707638; longitude = -117.431847; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 495.728759; finalDepth = 496.457474; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:496.457474 # Seafloor depth:-536.457474 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 535.728759 meters looking forward 0.000000 meters along route # Maximum depth: 535.728759 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 495.728759 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.707688; longitude = -117.431762; captureRadius = 10; duration = 50; initialDepth = 496.070344; finalDepth = 495.728759; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:495.728759 # Seafloor depth:-535.728759 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 536.070344 meters looking forward 0.000000 meters along route # Maximum depth: 536.070344 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 496.070344 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.707959; longitude = -117.431305; captureRadius = 10; duration = 50; initialDepth = 494.589700; finalDepth = 496.070344; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:496.070344 # Seafloor depth:-536.070344 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 534.589700 meters looking forward 0.000000 meters along route # Maximum depth: 534.589700 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 494.589700 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.708235; longitude = -117.430838; captureRadius = 10; duration = 50; initialDepth = 493.182378; finalDepth = 494.589700; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:494.5897 # Seafloor depth:-534.589700 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 533.182378 meters looking forward 0.000000 meters along route # Maximum depth: 533.182378 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 493.182378 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.708500; longitude = -117.430390; captureRadius = 10; duration = 50; initialDepth = 491.026991; finalDepth = 493.182378; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:493.182378 # Seafloor depth:-533.182378 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 531.026991 meters looking forward 0.000000 meters along route # Maximum depth: 531.026991 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 491.026991 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.708771; longitude = -117.429932; captureRadius = 10; duration = 50; initialDepth = 488.478438; finalDepth = 491.026991; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:491.026991 # Seafloor depth:-531.026991 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 528.478438 meters looking forward 0.000000 meters along route # Maximum depth: 528.478438 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 488.478438 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.709042; longitude = -117.429475; captureRadius = 10; duration = 50; initialDepth = 488.743135; finalDepth = 488.478438; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:488.478438 # Seafloor depth:-528.478438 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 528.743135 meters looking forward 0.000000 meters along route # Maximum depth: 528.743135 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 488.743135 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.709312; longitude = -117.429018; captureRadius = 10; duration = 50; initialDepth = 485.830589; finalDepth = 488.743135; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:488.743135 # Seafloor depth:-528.743135 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 525.830589 meters looking forward 0.000000 meters along route # Maximum depth: 525.830589 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 485.830589 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.709583; longitude = -117.428560; captureRadius = 10; duration = 50; initialDepth = 484.018655; finalDepth = 485.830589; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:485.830589 # Seafloor depth:-525.830589 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 524.018655 meters looking forward 0.000000 meters along route # Maximum depth: 524.018655 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 484.018655 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.709854; longitude = -117.428103; captureRadius = 10; duration = 50; initialDepth = 483.036574; finalDepth = 484.018655; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:484.018655 # Seafloor depth:-524.018655 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 523.036574 meters looking forward 0.000000 meters along route # Maximum depth: 523.036574 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 483.036574 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.710129; longitude = -117.427637; captureRadius = 10; duration = 50; initialDepth = 480.724324; finalDepth = 483.036574; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:483.036574 # Seafloor depth:-523.036574 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 520.724324 meters looking forward 0.000000 meters along route # Maximum depth: 520.724324 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 480.724324 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.710395; longitude = -117.427188; captureRadius = 10; duration = 50; initialDepth = 478.876604; finalDepth = 480.724324; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:480.724324 # Seafloor depth:-520.724324 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 518.876604 meters looking forward 0.000000 meters along route # Maximum depth: 518.876604 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 478.876604 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.710666; longitude = -117.426730; captureRadius = 10; duration = 50; initialDepth = 477.165316; finalDepth = 478.876604; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:478.876604 # Seafloor depth:-518.876604 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 517.165316 meters looking forward 0.000000 meters along route # Maximum depth: 517.165316 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 477.165316 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.710936; longitude = -117.426273; captureRadius = 10; duration = 50; initialDepth = 475.899782; finalDepth = 477.165316; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:477.165316 # Seafloor depth:-517.165316 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 515.899782 meters looking forward 0.000000 meters along route # Maximum depth: 515.899782 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 475.899782 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.711207; longitude = -117.425816; captureRadius = 10; duration = 50; initialDepth = 474.480904; finalDepth = 475.899782; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:475.899782 # Seafloor depth:-515.899782 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 514.480904 meters looking forward 0.000000 meters along route # Maximum depth: 514.480904 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 474.480904 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.711478; longitude = -117.425358; captureRadius = 10; duration = 50; initialDepth = 473.185029; finalDepth = 474.480904; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:474.480904 # Seafloor depth:-514.480904 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 513.185029 meters looking forward 0.000000 meters along route # Maximum depth: 513.185029 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 473.185029 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.711748; longitude = -117.424901; captureRadius = 10; duration = 50; initialDepth = 471.115571; finalDepth = 473.185029; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:473.185029 # Seafloor depth:-513.185029 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 511.115571 meters looking forward 0.000000 meters along route # Maximum depth: 511.115571 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 471.115571 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.712024; longitude = -117.424436; captureRadius = 10; duration = 50; initialDepth = 472.053861; finalDepth = 471.115571; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:471.115571 # Seafloor depth:-511.115571 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 512.053861 meters looking forward 0.000000 meters along route # Maximum depth: 512.053861 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 472.053861 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.712290; longitude = -117.423986; captureRadius = 10; duration = 50; initialDepth = 469.454590; finalDepth = 472.053861; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:472.053861 # Seafloor depth:-512.053861 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 509.454590 meters looking forward 0.000000 meters along route # Maximum depth: 509.454590 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 469.454590 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.712560; longitude = -117.423529; captureRadius = 10; duration = 50; initialDepth = 468.299512; finalDepth = 469.454590; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:469.45459 # Seafloor depth:-509.454590 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 50.186748 meters # Minimum depth: 508.299512 meters looking forward 0.000000 meters along route # Maximum depth: 508.299512 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 468.299512 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.712831; longitude = -117.423071; captureRadius = 10; duration = 50; initialDepth = 466.438847; finalDepth = 468.299512; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:468.299512 # Seafloor depth:-508.299512 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 506.438847 meters looking forward 0.000000 meters along route # Maximum depth: 506.438847 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 466.438847 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.713102; longitude = -117.422614; captureRadius = 10; duration = 50; initialDepth = 464.869799; finalDepth = 466.438847; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:466.438847 # Seafloor depth:-506.438847 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 504.869799 meters looking forward 0.000000 meters along route # Maximum depth: 504.869799 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 464.869799 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.713373; longitude = -117.422156; captureRadius = 10; duration = 50; initialDepth = 462.947205; finalDepth = 464.869799; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:464.869799 # Seafloor depth:-504.869799 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 502.947205 meters looking forward 0.000000 meters along route # Maximum depth: 502.947205 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 462.947205 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.713643; longitude = -117.421699; captureRadius = 10; duration = 50; initialDepth = 461.301650; finalDepth = 462.947205; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:462.947205 # Seafloor depth:-502.947205 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 501.301650 meters looking forward 0.000000 meters along route # Maximum depth: 501.301650 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 461.301650 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.713918; longitude = -117.421235; captureRadius = 10; duration = 50; initialDepth = 459.696573; finalDepth = 461.301650; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:461.30165 # Seafloor depth:-501.301650 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 499.696573 meters looking forward 0.000000 meters along route # Maximum depth: 499.696573 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 459.696573 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.714185; longitude = -117.420784; captureRadius = 10; duration = 50; initialDepth = 458.111533; finalDepth = 459.696573; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:459.696573 # Seafloor depth:-499.696573 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 498.111533 meters looking forward 0.000000 meters along route # Maximum depth: 498.111533 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 458.111533 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.714455; longitude = -117.420327; captureRadius = 10; duration = 50; initialDepth = 455.470628; finalDepth = 458.111533; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:458.111533 # Seafloor depth:-498.111533 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 495.470628 meters looking forward 0.000000 meters along route # Maximum depth: 495.470628 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 455.470628 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.714726; longitude = -117.419869; captureRadius = 10; duration = 50; initialDepth = 454.377961; finalDepth = 455.470628; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:455.470628 # Seafloor depth:-495.470628 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 494.377961 meters looking forward 0.000000 meters along route # Maximum depth: 494.377961 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 454.377961 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.714997; longitude = -117.419412; captureRadius = 10; duration = 50; initialDepth = 454.589232; finalDepth = 454.377961; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:454.377961 # Seafloor depth:-494.377961 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 494.589232 meters looking forward 0.000000 meters along route # Maximum depth: 494.589232 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 454.589232 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.715267; longitude = -117.418954; captureRadius = 10; duration = 50; initialDepth = 454.603046; finalDepth = 454.589232; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:454.589232 # Seafloor depth:-494.589232 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 494.603046 meters looking forward 0.000000 meters along route # Maximum depth: 494.603046 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 454.603046 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.715538; longitude = -117.418497; captureRadius = 10; duration = 50; initialDepth = 451.803872; finalDepth = 454.603046; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:454.603046 # Seafloor depth:-494.603046 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 491.803872 meters looking forward 0.000000 meters along route # Maximum depth: 491.803872 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 451.803872 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.715812; longitude = -117.418034; captureRadius = 10; duration = 50; initialDepth = 449.660218; finalDepth = 451.803872; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:451.803872 # Seafloor depth:-491.803872 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 489.660218 meters looking forward 0.000000 meters along route # Maximum depth: 489.660218 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 449.660218 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.716079; longitude = -117.417582; captureRadius = 10; duration = 50; initialDepth = 448.348352; finalDepth = 449.660218; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:449.660218 # Seafloor depth:-489.660218 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 488.348352 meters looking forward 0.000000 meters along route # Maximum depth: 488.348352 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 448.348352 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.716350; longitude = -117.417125; captureRadius = 10; duration = 50; initialDepth = 444.983830; finalDepth = 448.348352; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:448.348352 # Seafloor depth:-488.348352 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 484.983830 meters looking forward 0.000000 meters along route # Maximum depth: 484.983830 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 444.983830 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.716621; longitude = -117.416667; captureRadius = 10; duration = 50; initialDepth = 442.915224; finalDepth = 444.983830; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:444.98383 # Seafloor depth:-484.983830 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 482.915224 meters looking forward 0.000000 meters along route # Maximum depth: 482.915224 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 442.915224 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.716891; longitude = -117.416210; captureRadius = 10; duration = 50; initialDepth = 441.083887; finalDepth = 442.915224; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:442.915224 # Seafloor depth:-482.915224 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 481.083887 meters looking forward 0.000000 meters along route # Maximum depth: 481.083887 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 441.083887 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.717162; longitude = -117.415752; captureRadius = 10; duration = 50; initialDepth = 440.894159; finalDepth = 441.083887; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:441.083887 # Seafloor depth:-481.083887 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 480.894159 meters looking forward 0.000000 meters along route # Maximum depth: 480.894159 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 440.894159 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.717433; longitude = -117.415295; captureRadius = 10; duration = 50; initialDepth = 437.222349; finalDepth = 440.894159; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:440.894159 # Seafloor depth:-480.894159 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 477.222349 meters looking forward 0.000000 meters along route # Maximum depth: 477.222349 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 437.222349 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.717706; longitude = -117.414832; captureRadius = 10; duration = 50; initialDepth = 434.371841; finalDepth = 437.222349; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:437.222349 # Seafloor depth:-477.222349 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 474.371841 meters looking forward 0.000000 meters along route # Maximum depth: 474.371841 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 434.371841 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.717974; longitude = -117.414380; captureRadius = 10; duration = 50; initialDepth = 432.464695; finalDepth = 434.371841; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:434.371841 # Seafloor depth:-474.371841 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 472.464695 meters looking forward 0.000000 meters along route # Maximum depth: 472.464695 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 432.464695 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.718245; longitude = -117.413923; captureRadius = 10; duration = 50; initialDepth = 429.663549; finalDepth = 432.464695; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:432.464695 # Seafloor depth:-472.464695 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 469.663549 meters looking forward 0.000000 meters along route # Maximum depth: 469.663549 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 429.663549 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.718516; longitude = -117.413465; captureRadius = 10; duration = 50; initialDepth = 426.985689; finalDepth = 429.663549; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:429.663549 # Seafloor depth:-469.663549 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 466.985689 meters looking forward 0.000000 meters along route # Maximum depth: 466.985689 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 426.985689 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.718786; longitude = -117.413008; captureRadius = 10; duration = 50; initialDepth = 424.430022; finalDepth = 426.985689; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:426.985689 # Seafloor depth:-466.985689 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 464.430022 meters looking forward 0.000000 meters along route # Maximum depth: 464.430022 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 424.430022 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.719057; longitude = -117.412550; captureRadius = 10; duration = 50; initialDepth = 421.763651; finalDepth = 424.430022; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:424.430022 # Seafloor depth:-464.430022 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 461.763651 meters looking forward 0.000000 meters along route # Maximum depth: 461.763651 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 421.763651 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.719328; longitude = -117.412093; captureRadius = 10; duration = 50; initialDepth = 419.646823; finalDepth = 421.763651; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:421.763651 # Seafloor depth:-461.763651 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 459.646823 meters looking forward 0.000000 meters along route # Maximum depth: 459.646823 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 419.646823 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.719601; longitude = -117.411631; captureRadius = 10; duration = 50; initialDepth = 415.891911; finalDepth = 419.646823; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:419.646823 # Seafloor depth:-459.646823 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 455.891911 meters looking forward 0.000000 meters along route # Maximum depth: 455.891911 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 415.891911 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.719869; longitude = -117.411178; captureRadius = 10; duration = 50; initialDepth = 413.281682; finalDepth = 415.891911; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:415.891911 # Seafloor depth:-455.891911 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 453.281682 meters looking forward 0.000000 meters along route # Maximum depth: 453.281682 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 413.281682 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.720140; longitude = -117.410721; captureRadius = 10; duration = 50; initialDepth = 410.318810; finalDepth = 413.281682; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:413.281682 # Seafloor depth:-453.281682 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 450.318810 meters looking forward 0.000000 meters along route # Maximum depth: 450.318810 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 410.318810 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.720410; longitude = -117.410263; captureRadius = 10; duration = 50; initialDepth = 410.060619; finalDepth = 410.318810; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:410.31881 # Seafloor depth:-450.318810 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 450.060619 meters looking forward 0.000000 meters along route # Maximum depth: 450.060619 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 410.060619 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.720681; longitude = -117.409806; captureRadius = 10; duration = 50; initialDepth = 410.325639; finalDepth = 410.060619; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:410.060619 # Seafloor depth:-450.060619 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 450.325639 meters looking forward 0.000000 meters along route # Maximum depth: 450.325639 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 410.325639 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.720952; longitude = -117.409348; captureRadius = 10; duration = 50; initialDepth = 410.109715; finalDepth = 410.325639; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:410.325639 # Seafloor depth:-450.325639 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 450.109715 meters looking forward 0.000000 meters along route # Maximum depth: 450.109715 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 410.109715 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.721222; longitude = -117.408891; captureRadius = 10; duration = 50; initialDepth = 408.511772; finalDepth = 410.109715; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:410.109715 # Seafloor depth:-450.109715 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 448.511772 meters looking forward 0.000000 meters along route # Maximum depth: 448.511772 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 408.511772 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.721495; longitude = -117.408430; captureRadius = 10; duration = 50; initialDepth = 410.392088; finalDepth = 408.511772; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:408.511772 # Seafloor depth:-448.511772 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 450.392088 meters looking forward 0.000000 meters along route # Maximum depth: 450.392088 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 410.392088 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.721764; longitude = -117.407976; captureRadius = 10; duration = 50; initialDepth = 407.307153; finalDepth = 410.392088; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:410.392088 # Seafloor depth:-450.392088 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 447.307153 meters looking forward 0.000000 meters along route # Maximum depth: 447.307153 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 407.307153 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.722034; longitude = -117.407519; captureRadius = 10; duration = 50; initialDepth = 404.218202; finalDepth = 407.307153; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:407.307153 # Seafloor depth:-447.307153 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 444.218202 meters looking forward 0.000000 meters along route # Maximum depth: 444.218202 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 404.218202 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.722305; longitude = -117.407061; captureRadius = 10; duration = 50; initialDepth = 403.153814; finalDepth = 404.218202; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:404.218202 # Seafloor depth:-444.218202 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 443.153814 meters looking forward 0.000000 meters along route # Maximum depth: 443.153814 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 403.153814 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.722576; longitude = -117.406604; captureRadius = 10; duration = 50; initialDepth = 400.900543; finalDepth = 403.153814; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:403.153814 # Seafloor depth:-443.153814 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 440.900543 meters looking forward 0.000000 meters along route # Maximum depth: 440.900543 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 400.900543 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.722846; longitude = -117.406146; captureRadius = 10; duration = 50; initialDepth = 400.662973; finalDepth = 400.900543; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:400.900543 # Seafloor depth:-440.900543 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 440.662973 meters looking forward 0.000000 meters along route # Maximum depth: 440.662973 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 400.662973 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.723117; longitude = -117.405689; captureRadius = 10; duration = 50; initialDepth = 399.210577; finalDepth = 400.662973; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:400.662973 # Seafloor depth:-440.662973 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 439.210577 meters looking forward 0.000000 meters along route # Maximum depth: 439.210577 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 399.210577 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.723389; longitude = -117.405229; captureRadius = 10; duration = 50; initialDepth = 397.126169; finalDepth = 399.210577; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:399.210577 # Seafloor depth:-439.210577 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 437.126169 meters looking forward 0.000000 meters along route # Maximum depth: 437.126169 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 397.126169 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.723658; longitude = -117.404774; captureRadius = 10; duration = 50; initialDepth = 395.859064; finalDepth = 397.126169; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:397.126169 # Seafloor depth:-437.126169 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 435.859064 meters looking forward 0.000000 meters along route # Maximum depth: 435.859064 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 395.859064 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.723929; longitude = -117.404317; captureRadius = 10; duration = 50; initialDepth = 393.968115; finalDepth = 395.859064; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:395.859064 # Seafloor depth:-435.859064 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 433.968115 meters looking forward 0.000000 meters along route # Maximum depth: 433.968115 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 393.968115 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.724200; longitude = -117.403859; captureRadius = 10; duration = 50; initialDepth = 394.805677; finalDepth = 393.968115; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:393.968115 # Seafloor depth:-433.968115 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 434.805677 meters looking forward 0.000000 meters along route # Maximum depth: 434.805677 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 394.805677 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.724471; longitude = -117.403402; captureRadius = 10; duration = 50; initialDepth = 392.375501; finalDepth = 394.805677; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:394.805677 # Seafloor depth:-434.805677 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 432.375501 meters looking forward 0.000000 meters along route # Maximum depth: 432.375501 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 392.375501 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.724741; longitude = -117.402944; captureRadius = 10; duration = 50; initialDepth = 390.390595; finalDepth = 392.375501; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:392.375501 # Seafloor depth:-432.375501 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 430.390595 meters looking forward 0.000000 meters along route # Maximum depth: 430.390595 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 390.390595 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.725012; longitude = -117.402487; captureRadius = 10; duration = 50; initialDepth = 390.502583; finalDepth = 390.390595; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:390.390595 # Seafloor depth:-430.390595 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 430.502583 meters looking forward 0.000000 meters along route # Maximum depth: 430.502583 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 390.502583 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.725284; longitude = -117.402028; captureRadius = 10; duration = 50; initialDepth = 388.630294; finalDepth = 390.502583; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:390.502583 # Seafloor depth:-430.502583 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 428.630294 meters looking forward 0.000000 meters along route # Maximum depth: 428.630294 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 388.630294 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.725553; longitude = -117.401572; captureRadius = 10; duration = 50; initialDepth = 388.575313; finalDepth = 388.630294; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:388.630294 # Seafloor depth:-428.630294 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 428.575313 meters looking forward 0.000000 meters along route # Maximum depth: 428.575313 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 388.575313 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.725824; longitude = -117.401115; captureRadius = 10; duration = 50; initialDepth = 387.460726; finalDepth = 388.575313; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:388.575313 # Seafloor depth:-428.575313 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 427.460726 meters looking forward 0.000000 meters along route # Maximum depth: 427.460726 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 387.460726 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.726095; longitude = -117.400657; captureRadius = 10; duration = 50; initialDepth = 386.405741; finalDepth = 387.460726; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:387.460726 # Seafloor depth:-427.460726 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 426.405741 meters looking forward 0.000000 meters along route # Maximum depth: 426.405741 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 386.405741 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.726365; longitude = -117.400200; captureRadius = 10; duration = 50; initialDepth = 385.934427; finalDepth = 386.405741; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:386.405741 # Seafloor depth:-426.405741 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 425.934427 meters looking forward 0.000000 meters along route # Maximum depth: 425.934427 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 385.934427 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.726636; longitude = -117.399742; captureRadius = 10; duration = 50; initialDepth = 384.265792; finalDepth = 385.934427; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:385.934427 # Seafloor depth:-425.934427 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 424.265792 meters looking forward 0.000000 meters along route # Maximum depth: 424.265792 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 384.265792 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.726907; longitude = -117.399285; captureRadius = 10; duration = 50; initialDepth = 384.144674; finalDepth = 384.265792; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:384.265792 # Seafloor depth:-424.265792 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 424.144674 meters looking forward 0.000000 meters along route # Maximum depth: 424.144674 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 384.144674 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.727178; longitude = -117.398827; captureRadius = 10; duration = 50; initialDepth = 382.696460; finalDepth = 384.144674; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:384.144674 # Seafloor depth:-424.144674 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 422.696460 meters looking forward 0.000000 meters along route # Maximum depth: 422.696460 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 382.696460 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.727448; longitude = -117.398370; captureRadius = 10; duration = 50; initialDepth = 382.550675; finalDepth = 382.696460; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:382.69646 # Seafloor depth:-422.696460 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 422.550675 meters looking forward 0.000000 meters along route # Maximum depth: 422.550675 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 382.550675 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.727719; longitude = -117.397913; captureRadius = 10; duration = 50; initialDepth = 380.688662; finalDepth = 382.550675; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:382.550675 # Seafloor depth:-422.550675 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 420.688662 meters looking forward 0.000000 meters along route # Maximum depth: 420.688662 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 380.688662 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.727989; longitude = -117.397455; captureRadius = 10; duration = 50; initialDepth = 378.723886; finalDepth = 380.688662; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:380.688662 # Seafloor depth:-420.688662 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 418.723886 meters looking forward 0.000000 meters along route # Maximum depth: 418.723886 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 378.723886 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.728260; longitude = -117.396998; captureRadius = 10; duration = 50; initialDepth = 378.401760; finalDepth = 378.723886; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:378.723886 # Seafloor depth:-418.723886 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 418.401760 meters looking forward 0.000000 meters along route # Maximum depth: 418.401760 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 378.401760 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.728531; longitude = -117.396540; captureRadius = 10; duration = 50; initialDepth = 377.155627; finalDepth = 378.401760; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:378.40176 # Seafloor depth:-418.401760 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 417.155627 meters looking forward 0.000000 meters along route # Maximum depth: 417.155627 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 377.155627 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.728801; longitude = -117.396083; captureRadius = 10; duration = 50; initialDepth = 374.931728; finalDepth = 377.155627; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:377.155627 # Seafloor depth:-417.155627 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 414.931728 meters looking forward 0.000000 meters along route # Maximum depth: 414.931728 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 374.931728 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.729072; longitude = -117.395626; captureRadius = 10; duration = 50; initialDepth = 373.412297; finalDepth = 374.931728; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:374.931728 # Seafloor depth:-414.931728 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 413.412297 meters looking forward 0.000000 meters along route # Maximum depth: 413.412297 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 373.412297 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.729343; longitude = -117.395168; captureRadius = 10; duration = 50; initialDepth = 373.277573; finalDepth = 373.412297; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:373.412297 # Seafloor depth:-413.412297 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 413.277573 meters looking forward 0.000000 meters along route # Maximum depth: 413.277573 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 373.277573 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.729614; longitude = -117.394711; captureRadius = 10; duration = 50; initialDepth = 371.809648; finalDepth = 373.277573; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:373.277573 # Seafloor depth:-413.277573 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 411.809648 meters looking forward 0.000000 meters along route # Maximum depth: 411.809648 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 371.809648 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.729884; longitude = -117.394253; captureRadius = 10; duration = 50; initialDepth = 370.675240; finalDepth = 371.809648; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:371.809648 # Seafloor depth:-411.809648 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 410.675240 meters looking forward 0.000000 meters along route # Maximum depth: 410.675240 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 370.675240 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.730155; longitude = -117.393796; captureRadius = 10; duration = 50; initialDepth = 369.600905; finalDepth = 370.675240; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:370.67524 # Seafloor depth:-410.675240 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 409.600905 meters looking forward 0.000000 meters along route # Maximum depth: 409.600905 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 369.600905 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.730426; longitude = -117.393338; captureRadius = 10; duration = 50; initialDepth = 367.381191; finalDepth = 369.600905; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:369.600905 # Seafloor depth:-409.600905 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 407.381191 meters looking forward 0.000000 meters along route # Maximum depth: 407.381191 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 367.381191 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.730696; longitude = -117.392881; captureRadius = 10; duration = 50; initialDepth = 366.609767; finalDepth = 367.381191; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:367.381191 # Seafloor depth:-407.381191 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 406.609767 meters looking forward 0.000000 meters along route # Maximum depth: 406.609767 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 366.609767 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.730967; longitude = -117.392424; captureRadius = 10; duration = 50; initialDepth = 364.274924; finalDepth = 366.609767; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:366.609767 # Seafloor depth:-406.609767 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 404.274924 meters looking forward 0.000000 meters along route # Maximum depth: 404.274924 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 364.274924 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.731238; longitude = -117.391966; captureRadius = 10; duration = 50; initialDepth = 362.806581; finalDepth = 364.274924; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:364.274924 # Seafloor depth:-404.274924 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 402.806581 meters looking forward 0.000000 meters along route # Maximum depth: 402.806581 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 362.806581 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.731508; longitude = -117.391509; captureRadius = 10; duration = 50; initialDepth = 361.142097; finalDepth = 362.806581; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:362.806581 # Seafloor depth:-402.806581 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 401.142097 meters looking forward 0.000000 meters along route # Maximum depth: 401.142097 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 361.142097 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.731779; longitude = -117.391051; captureRadius = 10; duration = 50; initialDepth = 359.802678; finalDepth = 361.142097; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:361.142097 # Seafloor depth:-401.142097 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 399.802678 meters looking forward 0.000000 meters along route # Maximum depth: 399.802678 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 359.802678 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.732050; longitude = -117.390594; captureRadius = 10; duration = 50; initialDepth = 359.649103; finalDepth = 359.802678; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:359.802678 # Seafloor depth:-399.802678 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 399.649103 meters looking forward 0.000000 meters along route # Maximum depth: 399.649103 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 359.649103 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.732320; longitude = -117.390136; captureRadius = 10; duration = 50; initialDepth = 356.999765; finalDepth = 359.649103; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:359.649103 # Seafloor depth:-399.649103 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 396.999765 meters looking forward 0.000000 meters along route # Maximum depth: 396.999765 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 356.999765 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.732591; longitude = -117.389679; captureRadius = 10; duration = 50; initialDepth = 355.629377; finalDepth = 356.999765; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:356.999765 # Seafloor depth:-396.999765 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 395.629377 meters looking forward 0.000000 meters along route # Maximum depth: 395.629377 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 355.629377 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.732862; longitude = -117.389222; captureRadius = 10; duration = 50; initialDepth = 355.333837; finalDepth = 355.629377; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:355.629377 # Seafloor depth:-395.629377 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 395.333837 meters looking forward 0.000000 meters along route # Maximum depth: 395.333837 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 355.333837 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.733132; longitude = -117.388764; captureRadius = 10; duration = 50; initialDepth = 353.219597; finalDepth = 355.333837; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:355.333837 # Seafloor depth:-395.333837 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 393.219597 meters looking forward 0.000000 meters along route # Maximum depth: 393.219597 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 353.219597 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.733403; longitude = -117.388307; captureRadius = 10; duration = 50; initialDepth = 356.131099; finalDepth = 353.219597; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:353.219597 # Seafloor depth:-393.219597 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 396.131099 meters looking forward 0.000000 meters along route # Maximum depth: 396.131099 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 356.131099 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.733674; longitude = -117.387849; captureRadius = 10; duration = 50; initialDepth = 349.444562; finalDepth = 356.131099; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:356.131099 # Seafloor depth:-396.131099 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 389.444562 meters looking forward 0.000000 meters along route # Maximum depth: 389.444562 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 349.444562 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.733944; longitude = -117.387392; captureRadius = 10; duration = 50; initialDepth = 347.872884; finalDepth = 349.444562; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:349.444562 # Seafloor depth:-389.444562 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 387.872884 meters looking forward 0.000000 meters along route # Maximum depth: 387.872884 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 347.872884 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.734215; longitude = -117.386934; captureRadius = 10; duration = 50; initialDepth = 344.983564; finalDepth = 347.872884; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:347.872884 # Seafloor depth:-387.872884 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 384.983564 meters looking forward 0.000000 meters along route # Maximum depth: 384.983564 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 344.983564 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.734486; longitude = -117.386477; captureRadius = 10; duration = 50; initialDepth = 342.718004; finalDepth = 344.983564; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:344.983564 # Seafloor depth:-384.983564 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 382.718004 meters looking forward 0.000000 meters along route # Maximum depth: 382.718004 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 342.718004 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.734756; longitude = -117.386020; captureRadius = 10; duration = 50; initialDepth = 338.995796; finalDepth = 342.718004; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:342.718004 # Seafloor depth:-382.718004 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 378.995796 meters looking forward 0.000000 meters along route # Maximum depth: 378.995796 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 338.995796 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.735039; longitude = -117.385542; captureRadius = 10; duration = 50; initialDepth = 337.283641; finalDepth = 338.995796; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:338.995796 # Seafloor depth:-378.995796 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 377.283641 meters looking forward 0.000000 meters along route # Maximum depth: 377.283641 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 337.283641 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.735298; longitude = -117.385105; captureRadius = 10; duration = 50; initialDepth = 334.230821; finalDepth = 337.283641; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:337.283641 # Seafloor depth:-377.283641 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 374.230821 meters looking forward 0.000000 meters along route # Maximum depth: 374.230821 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 334.230821 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.735569; longitude = -117.384647; captureRadius = 10; duration = 50; initialDepth = 330.462063; finalDepth = 334.230821; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:334.230821 # Seafloor depth:-374.230821 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 370.462063 meters looking forward 0.000000 meters along route # Maximum depth: 370.462063 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 330.462063 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.735839; longitude = -117.384190; captureRadius = 10; duration = 50; initialDepth = 326.981975; finalDepth = 330.462063; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:330.462063 # Seafloor depth:-370.462063 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 366.981975 meters looking forward 0.000000 meters along route # Maximum depth: 366.981975 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 326.981975 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.736110; longitude = -117.383732; captureRadius = 10; duration = 50; initialDepth = 322.490719; finalDepth = 326.981975; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:326.981975 # Seafloor depth:-366.981975 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 362.490719 meters looking forward 0.000000 meters along route # Maximum depth: 362.490719 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 322.490719 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.736381; longitude = -117.383275; captureRadius = 10; duration = 50; initialDepth = 318.435186; finalDepth = 322.490719; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:322.490719 # Seafloor depth:-362.490719 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 358.435186 meters looking forward 0.000000 meters along route # Maximum depth: 358.435186 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 318.435186 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.736651; longitude = -117.382818; captureRadius = 10; duration = 50; initialDepth = 315.097310; finalDepth = 318.435186; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:318.435186 # Seafloor depth:-358.435186 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 355.097310 meters looking forward 0.000000 meters along route # Maximum depth: 355.097310 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 315.097310 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.736933; longitude = -117.382341; captureRadius = 10; duration = 50; initialDepth = 310.747860; finalDepth = 315.097310; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:315.09731 # Seafloor depth:-355.097310 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 350.747860 meters looking forward 0.000000 meters along route # Maximum depth: 350.747860 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 310.747860 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.737193; longitude = -117.381903; captureRadius = 10; duration = 50; initialDepth = 306.880275; finalDepth = 310.747860; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:310.74786 # Seafloor depth:-350.747860 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 346.880275 meters looking forward 0.000000 meters along route # Maximum depth: 346.880275 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 306.880275 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.737463; longitude = -117.381445; captureRadius = 10; duration = 50; initialDepth = 303.030047; finalDepth = 306.880275; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:306.880275 # Seafloor depth:-346.880275 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 343.030047 meters looking forward 0.000000 meters along route # Maximum depth: 343.030047 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 303.030047 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.737734; longitude = -117.380988; captureRadius = 10; duration = 50; initialDepth = 297.048789; finalDepth = 303.030047; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:303.030047 # Seafloor depth:-343.030047 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 337.048789 meters looking forward 0.000000 meters along route # Maximum depth: 337.048789 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 297.048789 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.738005; longitude = -117.380530; captureRadius = 10; duration = 50; initialDepth = 293.530180; finalDepth = 297.048789; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:297.048789 # Seafloor depth:-337.048789 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 333.530180 meters looking forward 0.000000 meters along route # Maximum depth: 333.530180 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 293.530180 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.738275; longitude = -117.380073; captureRadius = 10; duration = 50; initialDepth = 288.992824; finalDepth = 293.530180; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:293.53018 # Seafloor depth:-333.530180 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 328.992824 meters looking forward 0.000000 meters along route # Maximum depth: 328.992824 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 288.992824 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.738546; longitude = -117.379616; captureRadius = 10; duration = 50; initialDepth = 284.997682; finalDepth = 288.992824; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:288.992824 # Seafloor depth:-328.992824 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 324.997682 meters looking forward 0.000000 meters along route # Maximum depth: 324.997682 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 284.997682 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.738828; longitude = -117.379140; captureRadius = 10; duration = 50; initialDepth = 281.138587; finalDepth = 284.997682; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:284.997682 # Seafloor depth:-324.997682 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 321.138587 meters looking forward 0.000000 meters along route # Maximum depth: 321.138587 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 281.138587 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.739087; longitude = -117.378701; captureRadius = 10; duration = 50; initialDepth = 275.842901; finalDepth = 281.138587; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:281.138587 # Seafloor depth:-321.138587 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 315.842901 meters looking forward 0.000000 meters along route # Maximum depth: 315.842901 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 275.842901 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.739358; longitude = -117.378243; captureRadius = 10; duration = 50; initialDepth = 271.439817; finalDepth = 275.842901; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:275.842901 # Seafloor depth:-315.842901 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 311.439817 meters looking forward 0.000000 meters along route # Maximum depth: 311.439817 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 271.439817 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.739629; longitude = -117.377786; captureRadius = 10; duration = 50; initialDepth = 266.492136; finalDepth = 271.439817; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:271.439817 # Seafloor depth:-311.439817 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 306.492136 meters looking forward 0.000000 meters along route # Maximum depth: 306.492136 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 266.492136 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.739899; longitude = -117.377328; captureRadius = 10; duration = 50; initialDepth = 261.257900; finalDepth = 266.492136; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:266.492136 # Seafloor depth:-306.492136 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 301.257900 meters looking forward 0.000000 meters along route # Maximum depth: 301.257900 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 261.257900 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.740170; longitude = -117.376871; captureRadius = 10; duration = 50; initialDepth = 256.640405; finalDepth = 261.257900; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:261.2579 # Seafloor depth:-301.257900 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 296.640405 meters looking forward 0.000000 meters along route # Maximum depth: 296.640405 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 256.640405 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.740441; longitude = -117.376414; captureRadius = 10; duration = 50; initialDepth = 251.227050; finalDepth = 256.640405; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:256.640405 # Seafloor depth:-296.640405 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 291.227050 meters looking forward 0.000000 meters along route # Maximum depth: 291.227050 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 251.227050 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.740722; longitude = -117.375939; captureRadius = 10; duration = 50; initialDepth = 248.085488; finalDepth = 251.227050; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:251.22705 # Seafloor depth:-291.227050 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 288.085488 meters looking forward 0.000000 meters along route # Maximum depth: 288.085488 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 248.085488 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.740982; longitude = -117.375499; captureRadius = 10; duration = 50; initialDepth = 242.344282; finalDepth = 248.085488; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:248.085488 # Seafloor depth:-288.085488 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 282.344282 meters looking forward 0.000000 meters along route # Maximum depth: 282.344282 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 242.344282 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.741253; longitude = -117.375041; captureRadius = 10; duration = 50; initialDepth = 237.370972; finalDepth = 242.344282; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:242.344282 # Seafloor depth:-282.344282 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 277.370972 meters looking forward 0.000000 meters along route # Maximum depth: 277.370972 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 237.370972 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.741524; longitude = -117.374584; captureRadius = 10; duration = 50; initialDepth = 233.001130; finalDepth = 237.370972; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:237.370972 # Seafloor depth:-277.370972 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 273.001130 meters looking forward 0.000000 meters along route # Maximum depth: 273.001130 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 233.001130 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.741794; longitude = -117.374126; captureRadius = 10; duration = 50; initialDepth = 228.496681; finalDepth = 233.001130; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:233.00113 # Seafloor depth:-273.001130 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 268.496681 meters looking forward 0.000000 meters along route # Maximum depth: 268.496681 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 228.496681 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.742065; longitude = -117.373669; captureRadius = 10; duration = 50; initialDepth = 223.725293; finalDepth = 228.496681; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:228.496681 # Seafloor depth:-268.496681 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 263.725293 meters looking forward 0.000000 meters along route # Maximum depth: 263.725293 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 223.725293 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.742336; longitude = -117.373212; captureRadius = 10; duration = 50; initialDepth = 217.492784; finalDepth = 223.725293; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:223.725293 # Seafloor depth:-263.725293 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 257.492784 meters looking forward 0.000000 meters along route # Maximum depth: 257.492784 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 217.492784 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.742616; longitude = -117.372738; captureRadius = 10; duration = 50; initialDepth = 211.947383; finalDepth = 217.492784; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:217.492784 # Seafloor depth:-257.492784 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 251.947383 meters looking forward 0.000000 meters along route # Maximum depth: 251.947383 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 211.947383 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.742877; longitude = -117.372297; captureRadius = 10; duration = 50; initialDepth = 206.119176; finalDepth = 211.947383; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:211.947383 # Seafloor depth:-251.947383 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 246.119176 meters looking forward 0.000000 meters along route # Maximum depth: 246.119176 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 206.119176 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.743148; longitude = -117.371839; captureRadius = 10; duration = 50; initialDepth = 200.475197; finalDepth = 206.119176; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:206.119176 # Seafloor depth:-246.119176 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 240.475197 meters looking forward 0.000000 meters along route # Maximum depth: 240.475197 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 200.475197 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.743418; longitude = -117.371382; captureRadius = 10; duration = 50; initialDepth = 193.717497; finalDepth = 200.475197; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:200.475197 # Seafloor depth:-240.475197 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 233.717497 meters looking forward 0.000000 meters along route # Maximum depth: 233.717497 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 193.717497 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.743689; longitude = -117.370924; captureRadius = 10; duration = 50; initialDepth = 188.120113; finalDepth = 193.717497; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:193.717497 # Seafloor depth:-233.717497 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 228.120113 meters looking forward 0.000000 meters along route # Maximum depth: 228.120113 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 188.120113 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.743960; longitude = -117.370467; captureRadius = 10; duration = 50; initialDepth = 180.613648; finalDepth = 188.120113; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:188.120113 # Seafloor depth:-228.120113 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 220.613648 meters looking forward 0.000000 meters along route # Maximum depth: 220.613648 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 180.613648 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.744230; longitude = -117.370010; captureRadius = 10; duration = 50; initialDepth = 173.132888; finalDepth = 180.613648; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:180.613648 # Seafloor depth:-220.613648 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 213.132888 meters looking forward 0.000000 meters along route # Maximum depth: 213.132888 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 173.132888 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.744510; longitude = -117.369537; captureRadius = 10; duration = 50; initialDepth = 165.739258; finalDepth = 173.132888; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:173.132888 # Seafloor depth:-213.132888 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 205.739258 meters looking forward 0.000000 meters along route # Maximum depth: 205.739258 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 165.739258 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.744772; longitude = -117.369095; captureRadius = 10; duration = 50; initialDepth = 157.465683; finalDepth = 165.739258; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:165.739258 # Seafloor depth:-205.739258 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 197.465683 meters looking forward 0.000000 meters along route # Maximum depth: 197.465683 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 157.465683 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.745042; longitude = -117.368637; captureRadius = 10; duration = 50; initialDepth = 148.666443; finalDepth = 157.465683; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:157.465683 # Seafloor depth:-197.465683 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 188.666443 meters looking forward 0.000000 meters along route # Maximum depth: 188.666443 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 148.666443 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.745313; longitude = -117.368180; captureRadius = 10; duration = 50; initialDepth = 139.410741; finalDepth = 148.666443; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:148.666443 # Seafloor depth:-188.666443 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 179.410741 meters looking forward 0.000000 meters along route # Maximum depth: 179.410741 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 139.410741 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.745584; longitude = -117.367723; captureRadius = 10; duration = 50; initialDepth = 131.304695; finalDepth = 139.410741; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:139.410741 # Seafloor depth:-179.410741 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 171.304695 meters looking forward 0.000000 meters along route # Maximum depth: 171.304695 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 131.304695 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.745854; longitude = -117.367265; captureRadius = 10; duration = 50; initialDepth = 121.867435; finalDepth = 131.304695; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:131.304695 # Seafloor depth:-171.304695 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 161.867435 meters looking forward 0.000000 meters along route # Maximum depth: 161.867435 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 121.867435 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.746125; longitude = -117.366808; captureRadius = 10; duration = 50; initialDepth = 110.506021; finalDepth = 121.867435; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:121.867435 # Seafloor depth:-161.867435 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 150.506021 meters looking forward 0.000000 meters along route # Maximum depth: 150.506021 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 110.506021 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.746405; longitude = -117.366335; captureRadius = 10; duration = 50; initialDepth = 96.873153; finalDepth = 110.506021; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:110.506021 # Seafloor depth:-150.506021 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 136.873153 meters looking forward 0.000000 meters along route # Maximum depth: 136.873153 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 96.873153 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.746667; longitude = -117.365893; captureRadius = 10; duration = 50; initialDepth = 82.561723; finalDepth = 96.873153; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:96.873153 # Seafloor depth:-136.873153 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 122.561723 meters looking forward 0.000000 meters along route # Maximum depth: 122.561723 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 82.561723 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.746937; longitude = -117.365435; captureRadius = 10; duration = 50; initialDepth = 71.775122; finalDepth = 82.561723; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:82.561723 # Seafloor depth:-122.561723 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 111.775122 meters looking forward 0.000000 meters along route # Maximum depth: 111.775122 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 71.775122 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.747208; longitude = -117.364978; captureRadius = 10; duration = 50; initialDepth = 68.253407; finalDepth = 71.775122; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:71.775122 # Seafloor depth:-111.775122 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 108.253407 meters looking forward 0.000000 meters along route # Maximum depth: 108.253407 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 68.253407 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.747479; longitude = -117.364521; captureRadius = 10; duration = 50; initialDepth = 66.877155; finalDepth = 68.253407; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:68.253407 # Seafloor depth:-108.253407 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 106.877155 meters looking forward 0.000000 meters along route # Maximum depth: 106.877155 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 66.877155 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.747749; longitude = -117.364063; captureRadius = 10; duration = 50; initialDepth = 66.366206; finalDepth = 66.877155; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:66.877155 # Seafloor depth:-106.877155 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 106.366206 meters looking forward 0.000000 meters along route # Maximum depth: 106.366206 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 66.366206 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.748020; longitude = -117.363606; captureRadius = 10; duration = 50; initialDepth = 65.461279; finalDepth = 66.366206; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:66.366206 # Seafloor depth:-106.366206 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 105.461279 meters looking forward 0.000000 meters along route # Maximum depth: 105.461279 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 65.461279 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.748299; longitude = -117.363134; captureRadius = 10; duration = 50; initialDepth = 64.677569; finalDepth = 65.461279; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:65.461279 # Seafloor depth:-105.461279 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.186748 meters # Minimum depth: 104.677569 meters looking forward 0.000000 meters along route # Maximum depth: 104.677569 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 64.677569 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.748561; longitude = -117.362691; captureRadius = 10; duration = 50; initialDepth = 64.124365; finalDepth = 64.677569; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:64.677569 # Seafloor depth:-104.677569 # 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 = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_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:64.124365 # Seafloor depth:-104.124365 # 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 = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_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 50.186748 meters # Minimum depth: 104.124365 meters looking forward 0.000000 meters along route # Maximum depth: 104.124365 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 64.124365 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.748821; longitude = -117.362252; captureRadius = 10; duration = 600; initialDepth = 64.124365; finalDepth = 64.124365; 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 = 235.219347; 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 = 235.219347; 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 = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.00; MB_Bottom_Detect_Filter_Max_Range = 160.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; Snippet_Mode = 1; Window_Size = 200; } # ####################################################### #######################################################