# 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_2v3.rte # Mission File: LaJolla_2v3.cfg # Distance: 68046.220200 (m) # Estimated Time: 46768 (s) 12.991 (hr) # Abort Time: 45900 (s) # Max battery life: 64800 (s) # Safety margin: 1800 (s) # Ascend time: 562 (s) # Way Points: 56 # Route Points: 1174 # Survey behavior: WaypointDepth # Descent style: Spiral descent # Mapping sonar control enabled: # # Mission Parameters: # Vehicle Speed: 1.500000 (m/s) 2.915769 (knots) # Desired Vehicle Altitude: 40 (m) # Minimum Vehicle Altitude: 50 (m) # Abort Vehicle Altitude: 30 (m) # Maximum Vehicle Depth: 900 (m) # Abort Vehicle Depth: 925 (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 -117.502170 32.781088 -912.547852 0.000000 4 # 1 -117.494807 32.780953 -866.677409 689.657417 1 # 2 -117.489365 32.777976 -845.290365 1296.850285 1 # 3 -117.487071 32.774908 -834.515218 1699.119833 1 # 4 -117.487445 32.769449 -842.195231 2305.283502 1 # 5 -117.516735 32.793404 -909.911784 6123.210781 1 # 6 -117.515589 32.794453 -910.967026 6281.393612 3 # 7 -117.485945 32.769923 -831.000351 10167.474322 1 # 8 -117.480187 32.750985 -850.358719 12335.088610 1 # 9 -117.468955 32.727117 -715.572403 15182.641862 1 # 10 -117.464192 32.718700 -656.312881 16216.988320 1 # 11 -117.459998 32.713229 -622.653534 16939.712041 1 # 12 -117.454595 32.709321 -597.334717 17606.123697 1 # 13 -117.445283 32.708359 -577.785400 18485.368502 1 # 14 -117.436468 32.708960 -542.512115 19314.224236 4 # 15 -117.436112 32.705473 -543.601715 19702.220586 3 # 16 -117.444998 32.704812 -576.463455 20538.298557 1 # 17 -117.456586 32.706195 -593.782364 21635.174756 1 # 18 -117.463197 32.711245 -613.092590 22470.233659 1 # 19 -117.468031 32.717257 -638.098969 23276.105267 1 # 20 -117.471016 32.723029 -689.497665 23974.448908 1 # 21 -117.471870 32.726275 -752.499283 24343.084684 1 # 22 -117.473362 32.728259 -741.411194 24603.700408 1 # 23 -117.483599 32.750083 -834.111710 27206.251336 1 # 24 -117.488717 32.768300 -841.625076 29281.886740 1 # 25 -117.517508 32.791747 -912.215652 33027.054452 4 # 26 -117.513883 32.794814 -906.893707 33507.488473 3 # 27 -117.484523 32.770765 -821.152069 37337.291633 1 # 28 -117.478978 32.752729 -827.675171 39403.097617 1 # 29 -117.485945 32.754232 -840.261505 40076.679326 1 # 30 -117.490281 32.767158 -842.931473 41566.086020 1 # 31 -117.517935 32.790485 -913.947525 45225.952849 3 # 32 -117.510968 32.793671 -906.040939 45967.798256 1 # 33 -117.507058 32.790665 -906.506973 46462.869252 1 # 34 -117.513669 32.784894 -909.936493 47353.119464 1 # 35 -117.504997 32.778160 -903.687683 48456.221353 1 # 36 -117.493527 32.779194 -861.688151 49536.524080 1 # 37 -117.489792 32.776126 -890.532389 50024.364753 1 # 38 -117.490281 32.768781 -855.672806 50839.896779 1 # 39 -117.483386 32.768661 -819.071625 51485.827732 1 # 40 -117.478694 32.755314 -826.460342 53029.349179 1 # 41 -117.479547 32.753510 -839.758484 53244.710295 1 # 42 -117.478125 32.750204 -790.165649 53634.666728 1 # 43 -117.470448 32.734332 -707.483551 55535.536420 1 # 44 -117.476988 32.732408 -743.350647 56184.380743 1 # 45 -117.485092 32.749362 -798.159012 58211.440682 1 # 46 -117.475922 32.747197 -741.339203 59103.406687 1 # 47 -117.477414 32.734933 -734.288422 60470.139210 1 # 48 -117.470448 32.733430 -712.323105 61143.765757 1 # 49 -117.462912 32.719602 -643.744125 62831.538732 1 # 50 -117.458718 32.714131 -613.894516 63554.260281 1 # 51 -117.461491 32.708179 -587.702560 64263.421621 1 # 52 -117.457865 32.705293 -577.329498 64730.172043 3 # 53 -117.443536 32.691808 -506.425537 66739.832163 3 # 54 -117.438948 32.686755 -480.680013 67446.057108 3 # 55 -117.435106 32.682424 -468.583008 68046.220200 3 # # A total of 1174 mission points have been defined. # # Define Mission parameters: #define MISSION_SPEED 1.500000 #define MISSION_DISTANCE 68046.220200 #define MISSION_TIME 46768 #define MISSION_TIMEOUT 45900 #define DEPTH_MAX 900.000000 #define DEPTH_ABORT 925.000000 #define ALTITUDE_DESIRED 40.000000 #define ALTITUDE_MIN 50.000000 #define ALTITUDE_ABORT 30.000000 #define GPS_DURATION 600 #define DESCENT_DEPTH 3.000000 #define SPIRAL_DESCENT_DEPTH 862.547852 #define DESCEND_DURATION 300 #define SETPOINT_DURATION 30 #define GPSMINHITS 2 #define ASCENDRUDDER 3.000000 #define ASCENDPITCH 45.000000 #define ASCENDENDDEPTH 2.000000 #define DESCENDRUDDER 3.000000 #define DESCENDPITCH -30.000000 #define MAXCROSSTRACKERROR 30 #define RESON_DURATION 6 # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = MISSION_TIMEOUT; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = DEPTH_MAX; abortDepth = DEPTH_ABORT; minAltitude = ALTITUDE_MIN; abortAltitude = ALTITUDE_ABORT; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = GPS_DURATION; minHits = GPSMINHITS; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 562; horizontalMode = rudder; horizontal = ASCENDRUDDER; pitch = ASCENDPITCH; speed = MISSION_SPEED; endDepth = ASCENDENDDEPTH; } # # 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 = RESON_DURATION; MB_Power = 0; SBP_Mode = 0; LoSS_Mode = 0; HiSS_Mode = 0; Log_Mode = 0; } ####################################################### # # # Waypoint_depth behavior to get to end of line 55 # Segment length 54.972675 meters # Minimum depth: 468.583008 meters looking forward 0.000000 meters along route # Maximum depth: 468.583008 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 428.583008 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.682424; longitude = -117.435106; captureRadius = 10; duration = 54; # abortOnTimeout = True; initialDepth = 429.575439; finalDepth = 428.583008; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:428.583008 # Seafloor depth:-468.583008 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 469.575439 meters looking forward 0.000000 meters along route # Maximum depth: 469.575439 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 429.575439 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.682665; longitude = -117.435320; captureRadius = 10; duration = 54; initialDepth = 431.663717; finalDepth = 429.575439; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:429.575439 # Seafloor depth:-469.575439 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 471.663717 meters looking forward 0.000000 meters along route # Maximum depth: 471.663717 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 431.663717 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.683026; longitude = -117.435640; captureRadius = 10; duration = 54; initialDepth = 433.745717; finalDepth = 431.663717; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:431.663717 # Seafloor depth:-471.663717 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 473.745717 meters looking forward 0.000000 meters along route # Maximum depth: 473.745717 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 433.745717 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.683387; longitude = -117.435960; captureRadius = 10; duration = 54; initialDepth = 436.243527; finalDepth = 433.745717; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:433.745717 # Seafloor depth:-473.745717 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 476.243527 meters looking forward 0.000000 meters along route # Maximum depth: 476.243527 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 436.243527 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.683748; longitude = -117.436280; captureRadius = 10; duration = 54; initialDepth = 434.964752; finalDepth = 436.243527; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:436.243527 # Seafloor depth:-476.243527 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 474.964752 meters looking forward 0.000000 meters along route # Maximum depth: 474.964752 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 434.964752 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.684109; longitude = -117.436600; captureRadius = 10; duration = 54; initialDepth = 435.491659; finalDepth = 434.964752; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:434.964752 # Seafloor depth:-474.964752 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 475.491659 meters looking forward 0.000000 meters along route # Maximum depth: 475.491659 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 435.491659 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.684470; longitude = -117.436920; captureRadius = 10; duration = 54; initialDepth = 435.543976; finalDepth = 435.491659; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:435.491659 # Seafloor depth:-475.491659 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 475.543976 meters looking forward 0.000000 meters along route # Maximum depth: 475.543976 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 435.543976 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.684831; longitude = -117.437240; captureRadius = 10; duration = 54; initialDepth = 436.870012; finalDepth = 435.543976; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:435.543976 # Seafloor depth:-475.543976 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 476.870012 meters looking forward 0.000000 meters along route # Maximum depth: 476.870012 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 436.870012 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.685191; longitude = -117.437560; captureRadius = 10; duration = 54; initialDepth = 437.264160; finalDepth = 436.870012; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:436.870012 # Seafloor depth:-476.870012 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 477.264160 meters looking forward 0.000000 meters along route # Maximum depth: 477.264160 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 437.264160 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.685552; longitude = -117.437880; captureRadius = 10; duration = 54; initialDepth = 437.698239; finalDepth = 437.264160; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:437.26416 # Seafloor depth:-477.264160 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 477.698239 meters looking forward 0.000000 meters along route # Maximum depth: 477.698239 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 437.698239 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.685913; longitude = -117.438201; captureRadius = 10; duration = 54; initialDepth = 438.695307; finalDepth = 437.698239; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:437.698239 # Seafloor depth:-477.698239 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 478.695307 meters looking forward 0.000000 meters along route # Maximum depth: 478.695307 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 438.695307 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.686304; longitude = -117.438547; captureRadius = 10; duration = 54; initialDepth = 440.680013; finalDepth = 438.695307; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:438.695307 # Seafloor depth:-478.695307 # behavior reson { duration = RESON_DURATION; 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 54 # Segment length 54.972675 meters # Minimum depth: 480.680013 meters looking forward 0.000000 meters along route # Maximum depth: 480.680013 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 440.680013 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.686755; longitude = -117.438948; captureRadius = 10; duration = 54; # abortOnTimeout = True; initialDepth = 441.478572; finalDepth = 440.680013; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:440.680013 # Seafloor depth:-480.680013 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 481.478572 meters looking forward 0.000000 meters along route # Maximum depth: 481.478572 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 441.478572 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.686990; longitude = -117.439161; captureRadius = 10; duration = 54; initialDepth = 443.272034; finalDepth = 441.478572; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:441.478572 # Seafloor depth:-481.478572 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 483.272034 meters looking forward 0.000000 meters along route # Maximum depth: 483.272034 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 443.272034 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.687387; longitude = -117.439521; captureRadius = 10; duration = 54; initialDepth = 443.916632; finalDepth = 443.272034; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:443.272034 # Seafloor depth:-483.272034 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 483.916632 meters looking forward 0.000000 meters along route # Maximum depth: 483.916632 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 443.916632 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.687793; longitude = -117.439890; captureRadius = 10; duration = 54; initialDepth = 446.690171; finalDepth = 443.916632; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:443.916632 # Seafloor depth:-483.916632 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 486.690171 meters looking forward 0.000000 meters along route # Maximum depth: 486.690171 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 446.690171 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.688224; longitude = -117.440281; captureRadius = 10; duration = 54; initialDepth = 448.996634; finalDepth = 446.690171; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:446.690171 # Seafloor depth:-486.690171 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 488.996634 meters looking forward 0.000000 meters along route # Maximum depth: 488.996634 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 448.996634 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.688605; longitude = -117.440627; captureRadius = 10; duration = 54; initialDepth = 449.805594; finalDepth = 448.996634; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:448.996634 # Seafloor depth:-488.996634 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 489.805594 meters looking forward 0.000000 meters along route # Maximum depth: 489.805594 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 449.805594 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.689011; longitude = -117.440996; captureRadius = 10; duration = 54; initialDepth = 454.105213; finalDepth = 449.805594; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:449.805594 # Seafloor depth:-489.805594 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 494.105213 meters looking forward 0.000000 meters along route # Maximum depth: 494.105213 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 454.105213 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.689458; longitude = -117.441402; captureRadius = 10; duration = 54; initialDepth = 455.756856; finalDepth = 454.105213; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:454.105213 # Seafloor depth:-494.105213 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 495.756856 meters looking forward 0.000000 meters along route # Maximum depth: 495.756856 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 455.756856 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.689823; longitude = -117.441733; captureRadius = 10; duration = 54; initialDepth = 460.497055; finalDepth = 455.756856; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:455.756856 # Seafloor depth:-495.756856 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 500.497055 meters looking forward 0.000000 meters along route # Maximum depth: 500.497055 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 460.497055 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.690229; longitude = -117.442102; captureRadius = 10; duration = 54; initialDepth = 464.468567; finalDepth = 460.497055; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:460.497055 # Seafloor depth:-500.497055 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 504.468567 meters looking forward 0.000000 meters along route # Maximum depth: 504.468567 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 464.468567 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.690635; longitude = -117.442471; captureRadius = 10; duration = 54; initialDepth = 467.104110; finalDepth = 464.468567; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:464.468567 # Seafloor depth:-504.468567 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 507.104110 meters looking forward 0.000000 meters along route # Maximum depth: 507.104110 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 467.104110 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.691044; longitude = -117.442842; captureRadius = 10; duration = 54; initialDepth = 466.170824; finalDepth = 467.104110; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:467.10411 # Seafloor depth:-507.104110 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 506.170824 meters looking forward 0.000000 meters along route # Maximum depth: 506.170824 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 466.170824 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.691447; longitude = -117.443208; captureRadius = 10; duration = 54; initialDepth = 466.425537; finalDepth = 466.170824; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:466.170824 # Seafloor depth:-506.170824 # behavior reson { duration = RESON_DURATION; 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 53 # Segment length 54.972675 meters # Minimum depth: 506.425537 meters looking forward 0.000000 meters along route # Maximum depth: 506.425537 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 466.425537 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.691808; longitude = -117.443536; captureRadius = 10; duration = 54; # abortOnTimeout = True; initialDepth = 467.589417; finalDepth = 466.425537; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:466.425537 # Seafloor depth:-506.425537 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 507.589417 meters looking forward 0.000000 meters along route # Maximum depth: 507.589417 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 467.589417 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.691989; longitude = -117.443728; captureRadius = 10; duration = 54; initialDepth = 470.461933; finalDepth = 467.589417; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:467.589417 # Seafloor depth:-507.589417 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 510.461933 meters looking forward 0.000000 meters along route # Maximum depth: 510.461933 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 470.461933 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.692395; longitude = -117.444159; captureRadius = 10; duration = 54; initialDepth = 472.909434; finalDepth = 470.461933; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:470.461933 # Seafloor depth:-510.461933 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 512.909434 meters looking forward 0.000000 meters along route # Maximum depth: 512.909434 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 472.909434 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.692812; longitude = -117.444603; captureRadius = 10; duration = 54; initialDepth = 473.250499; finalDepth = 472.909434; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:472.909434 # Seafloor depth:-512.909434 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 513.250499 meters looking forward 0.000000 meters along route # Maximum depth: 513.250499 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 473.250499 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.693264; longitude = -117.445083; captureRadius = 10; duration = 54; initialDepth = 475.252666; finalDepth = 473.250499; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:473.250499 # Seafloor depth:-513.250499 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 515.252666 meters looking forward 0.000000 meters along route # Maximum depth: 515.252666 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 475.252666 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.693613; longitude = -117.445453; captureRadius = 10; duration = 54; initialDepth = 477.392035; finalDepth = 475.252666; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:475.252666 # Seafloor depth:-515.252666 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 517.392035 meters looking forward 0.000000 meters along route # Maximum depth: 517.392035 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 477.392035 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.694019; longitude = -117.445885; captureRadius = 10; duration = 54; initialDepth = 480.699536; finalDepth = 477.392035; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:477.392035 # Seafloor depth:-517.392035 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 520.699536 meters looking forward 0.000000 meters along route # Maximum depth: 520.699536 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 480.699536 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.694469; longitude = -117.446363; captureRadius = 10; duration = 54; initialDepth = 483.096083; finalDepth = 480.699536; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:480.699536 # Seafloor depth:-520.699536 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 523.096083 meters looking forward 0.000000 meters along route # Maximum depth: 523.096083 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 483.096083 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.694831; longitude = -117.446748; captureRadius = 10; duration = 54; initialDepth = 484.216810; finalDepth = 483.096083; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:483.096083 # Seafloor depth:-523.096083 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 524.216810 meters looking forward 0.000000 meters along route # Maximum depth: 524.216810 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 484.216810 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.695237; longitude = -117.447179; captureRadius = 10; duration = 54; initialDepth = 488.042202; finalDepth = 484.216810; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:484.21681 # Seafloor depth:-524.216810 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 528.042202 meters looking forward 0.000000 meters along route # Maximum depth: 528.042202 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 488.042202 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.695674; longitude = -117.447644; captureRadius = 10; duration = 54; initialDepth = 489.221033; finalDepth = 488.042202; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:488.042202 # Seafloor depth:-528.042202 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 529.221033 meters looking forward 0.000000 meters along route # Maximum depth: 529.221033 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 489.221033 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.696049; longitude = -117.448042; captureRadius = 10; duration = 54; initialDepth = 490.565219; finalDepth = 489.221033; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:489.221033 # Seafloor depth:-529.221033 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 530.565219 meters looking forward 0.000000 meters along route # Maximum depth: 530.565219 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 490.565219 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.696455; longitude = -117.448473; captureRadius = 10; duration = 54; initialDepth = 491.466326; finalDepth = 490.565219; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:490.565219 # Seafloor depth:-530.565219 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 531.466326 meters looking forward 0.000000 meters along route # Maximum depth: 531.466326 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 491.466326 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.696879; longitude = -117.448924; captureRadius = 10; duration = 54; initialDepth = 495.236691; finalDepth = 491.466326; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:491.466326 # Seafloor depth:-531.466326 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 535.236691 meters looking forward 0.000000 meters along route # Maximum depth: 535.236691 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 495.236691 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.697331; longitude = -117.449405; captureRadius = 10; duration = 54; initialDepth = 495.620259; finalDepth = 495.236691; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:495.236691 # Seafloor depth:-535.236691 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 535.620259 meters looking forward 0.000000 meters along route # Maximum depth: 535.620259 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 495.620259 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.697673; longitude = -117.449768; captureRadius = 10; duration = 54; initialDepth = 502.747710; finalDepth = 495.620259; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:495.620259 # Seafloor depth:-535.620259 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 542.747710 meters looking forward 0.000000 meters along route # Maximum depth: 542.747710 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 502.747710 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.698084; longitude = -117.450205; captureRadius = 10; duration = 54; initialDepth = 500.151225; finalDepth = 502.747710; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:502.74771 # Seafloor depth:-542.747710 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 540.151225 meters looking forward 0.000000 meters along route # Maximum depth: 540.151225 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 500.151225 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.698536; longitude = -117.450685; captureRadius = 10; duration = 54; initialDepth = 503.187959; finalDepth = 500.151225; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:500.151225 # Seafloor depth:-540.151225 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 543.187959 meters looking forward 0.000000 meters along route # Maximum depth: 543.187959 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 503.187959 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.698891; longitude = -117.451062; captureRadius = 10; duration = 54; initialDepth = 504.808931; finalDepth = 503.187959; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:503.187959 # Seafloor depth:-543.187959 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 544.808931 meters looking forward 0.000000 meters along route # Maximum depth: 544.808931 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 504.808931 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.699297; longitude = -117.451494; captureRadius = 10; duration = 54; initialDepth = 508.680126; finalDepth = 504.808931; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:504.808931 # Seafloor depth:-544.808931 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 548.680126 meters looking forward 0.000000 meters along route # Maximum depth: 548.680126 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 508.680126 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.699703; longitude = -117.451925; captureRadius = 10; duration = 54; initialDepth = 509.573344; finalDepth = 508.680126; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:508.680126 # Seafloor depth:-548.680126 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 549.573344 meters looking forward 0.000000 meters along route # Maximum depth: 549.573344 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 509.573344 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.700042; longitude = -117.452286; captureRadius = 10; duration = 54; initialDepth = 509.490755; finalDepth = 509.573344; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:509.573344 # Seafloor depth:-549.573344 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 549.490755 meters looking forward 0.000000 meters along route # Maximum depth: 549.490755 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 509.490755 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.700380; longitude = -117.452644; captureRadius = 10; duration = 54; initialDepth = 512.820813; finalDepth = 509.490755; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:509.490755 # Seafloor depth:-549.490755 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 552.820813 meters looking forward 0.000000 meters along route # Maximum depth: 552.820813 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 512.820813 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.700795; longitude = -117.453086; captureRadius = 10; duration = 54; initialDepth = 514.677803; finalDepth = 512.820813; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:512.820813 # Seafloor depth:-552.820813 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 554.677803 meters looking forward 0.000000 meters along route # Maximum depth: 554.677803 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 514.677803 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.701247; longitude = -117.453566; captureRadius = 10; duration = 54; initialDepth = 517.699566; finalDepth = 514.677803; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:514.677803 # Seafloor depth:-554.677803 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 557.699566 meters looking forward 0.000000 meters along route # Maximum depth: 557.699566 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 517.699566 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.701598; longitude = -117.453938; captureRadius = 10; duration = 54; initialDepth = 518.967316; finalDepth = 517.699566; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:517.699566 # Seafloor depth:-557.699566 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 558.967316 meters looking forward 0.000000 meters along route # Maximum depth: 558.967316 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 518.967316 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.702004; longitude = -117.454370; captureRadius = 10; duration = 54; initialDepth = 522.085145; finalDepth = 518.967316; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:518.967316 # Seafloor depth:-558.967316 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 562.085145 meters looking forward 0.000000 meters along route # Maximum depth: 562.085145 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 522.085145 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.702452; longitude = -117.454846; captureRadius = 10; duration = 54; initialDepth = 522.597008; finalDepth = 522.085145; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:522.085145 # Seafloor depth:-562.085145 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 562.597008 meters looking forward 0.000000 meters along route # Maximum depth: 562.597008 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 522.597008 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.702816; longitude = -117.455233; captureRadius = 10; duration = 54; initialDepth = 523.852784; finalDepth = 522.597008; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:522.597008 # Seafloor depth:-562.597008 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 563.852784 meters looking forward 0.000000 meters along route # Maximum depth: 563.852784 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 523.852784 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.703222; longitude = -117.455664; captureRadius = 10; duration = 54; initialDepth = 526.409296; finalDepth = 523.852784; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:523.852784 # Seafloor depth:-563.852784 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 566.409296 meters looking forward 0.000000 meters along route # Maximum depth: 566.409296 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 526.409296 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.703657; longitude = -117.456127; captureRadius = 10; duration = 54; initialDepth = 528.945446; finalDepth = 526.409296; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:526.409296 # Seafloor depth:-566.409296 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 568.945446 meters looking forward 0.000000 meters along route # Maximum depth: 568.945446 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 528.945446 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.704034; longitude = -117.456527; captureRadius = 10; duration = 54; initialDepth = 530.407172; finalDepth = 528.945446; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:528.945446 # Seafloor depth:-568.945446 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 570.407172 meters looking forward 0.000000 meters along route # Maximum depth: 570.407172 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 530.407172 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.704440; longitude = -117.456959; captureRadius = 10; duration = 54; initialDepth = 532.066451; finalDepth = 530.407172; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:530.407172 # Seafloor depth:-570.407172 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 572.066451 meters looking forward 0.000000 meters along route # Maximum depth: 572.066451 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 532.066451 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.704862; longitude = -117.457407; captureRadius = 10; duration = 54; initialDepth = 537.329498; finalDepth = 532.066451; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:532.066451 # Seafloor depth:-572.066451 # behavior reson { duration = RESON_DURATION; 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 52 # Segment length 54.972675 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: 900.000000 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 = 54; # abortOnTimeout = True; initialDepth = 537.981070; finalDepth = 537.329498; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:537.329498 # Seafloor depth:-577.329498 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 539.721852; finalDepth = 537.981070; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:537.98107 # Seafloor depth:-577.981070 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 541.594022; finalDepth = 539.721852; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:539.721852 # Seafloor depth:-579.721852 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 543.456469; finalDepth = 541.594022; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:541.594022 # Seafloor depth:-581.594022 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 546.693656; finalDepth = 543.456469; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:543.456469 # Seafloor depth:-583.456469 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 545.617884; finalDepth = 546.693656; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:546.693656 # Seafloor depth:-586.693656 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 547.469707; finalDepth = 545.617884; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:545.617884 # Seafloor depth:-585.617884 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 547.702560; finalDepth = 547.469707; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:547.469707 # Seafloor depth:-587.469707 # behavior reson { duration = RESON_DURATION; 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 54.972675 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: 900.000000 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 = 54; # abortOnTimeout = True; initialDepth = 552.872307; finalDepth = 547.702560; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:547.70256 # Seafloor depth:-587.702560 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 565.490224; finalDepth = 552.872307; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:552.872307 # Seafloor depth:-592.872307 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 575.449405; finalDepth = 565.490224; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:565.490224 # Seafloor depth:-605.490224 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 582.451710; finalDepth = 575.449405; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:575.449405 # Seafloor depth:-615.449405 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 583.893148; finalDepth = 582.451710; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:582.45171 # Seafloor depth:-622.451710 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 583.582894; finalDepth = 583.893148; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:583.893148 # Seafloor depth:-623.893148 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 584.288597; finalDepth = 583.582894; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:583.582894 # Seafloor depth:-623.582894 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 582.444956; finalDepth = 584.288597; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:584.288597 # Seafloor depth:-624.288597 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 579.598764; finalDepth = 582.444956; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:582.444956 # Seafloor depth:-622.444956 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 577.034930; finalDepth = 579.598764; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:579.598764 # Seafloor depth:-619.598764 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 574.804385; finalDepth = 577.034930; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:577.03493 # Seafloor depth:-617.034930 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 573.894516; finalDepth = 574.804385; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:574.804385 # Seafloor depth:-614.804385 # behavior reson { duration = RESON_DURATION; 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 54.972675 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: 900.000000 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 = 54; # abortOnTimeout = True; initialDepth = 575.394431; finalDepth = 573.894516; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:573.894516 # Seafloor depth:-613.894516 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 576.344345; finalDepth = 575.394431; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:575.394431 # Seafloor depth:-615.394431 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 577.075211; finalDepth = 576.344345; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:576.344345 # Seafloor depth:-616.344345 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 578.147450; finalDepth = 577.075211; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:577.075211 # Seafloor depth:-617.075211 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 579.746567; finalDepth = 578.147450; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:578.14745 # Seafloor depth:-618.147450 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 582.436668; finalDepth = 579.746567; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:579.746567 # Seafloor depth:-619.746567 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 583.972124; finalDepth = 582.436668; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:582.436668 # Seafloor depth:-622.436668 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 586.956796; finalDepth = 583.972124; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:583.972124 # Seafloor depth:-623.972124 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 589.694093; finalDepth = 586.956796; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:586.956796 # Seafloor depth:-626.956796 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 596.342864; finalDepth = 589.694093; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:589.694093 # Seafloor depth:-629.694093 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 594.600293; finalDepth = 596.342864; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:596.342864 # Seafloor depth:-636.342864 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 597.282874; finalDepth = 594.600293; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:594.600293 # Seafloor depth:-634.600293 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 599.718863; finalDepth = 597.282874; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:597.282874 # Seafloor depth:-637.282874 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 603.744125; finalDepth = 599.718863; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:599.718863 # Seafloor depth:-639.718863 # behavior reson { duration = RESON_DURATION; 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 54.972675 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: 900.000000 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 = 54; # abortOnTimeout = True; initialDepth = 603.341687; finalDepth = 603.744125; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:603.744125 # Seafloor depth:-643.744125 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 606.451030; finalDepth = 603.341687; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:603.341687 # Seafloor depth:-643.341687 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 607.129035; finalDepth = 606.451030; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:606.45103 # Seafloor depth:-646.451030 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 608.092776; finalDepth = 607.129035; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:607.129035 # Seafloor depth:-647.129035 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 608.792807; finalDepth = 608.092776; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:608.092776 # Seafloor depth:-648.092776 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 610.640144; finalDepth = 608.792807; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:608.792807 # Seafloor depth:-648.792807 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 610.422504; finalDepth = 610.640144; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:610.640144 # Seafloor depth:-650.640144 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 610.410588; finalDepth = 610.422504; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:610.422504 # Seafloor depth:-650.422504 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 611.238553; finalDepth = 610.410588; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:610.410588 # Seafloor depth:-650.410588 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 612.547963; finalDepth = 611.238553; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:611.238553 # Seafloor depth:-651.238553 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 614.131412; finalDepth = 612.547963; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:612.547963 # Seafloor depth:-652.547963 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 619.378444; finalDepth = 614.131412; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:614.131412 # Seafloor depth:-654.131412 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 622.358518; finalDepth = 619.378444; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:619.378444 # Seafloor depth:-659.378444 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 626.750079; finalDepth = 622.358518; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:622.358518 # Seafloor depth:-662.358518 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 631.427457; finalDepth = 626.750079; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:626.750079 # Seafloor depth:-666.750079 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 632.807987; finalDepth = 631.427457; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:631.427457 # Seafloor depth:-671.427457 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 633.803060; finalDepth = 632.807987; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:632.807987 # Seafloor depth:-672.807987 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 639.790336; finalDepth = 633.803060; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:633.80306 # Seafloor depth:-673.803060 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 642.688822; finalDepth = 639.790336; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:639.790336 # Seafloor depth:-679.790336 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 646.023615; finalDepth = 642.688822; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:642.688822 # Seafloor depth:-682.688822 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 651.441187; finalDepth = 646.023615; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:646.023615 # Seafloor depth:-686.023615 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 656.413539; finalDepth = 651.441187; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:651.441187 # Seafloor depth:-691.441187 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 661.498280; finalDepth = 656.413539; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:656.413539 # Seafloor depth:-696.413539 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 664.366048; finalDepth = 661.498280; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:661.49828 # Seafloor depth:-701.498280 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 666.982463; finalDepth = 664.366048; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:664.366048 # Seafloor depth:-704.366048 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 668.818433; finalDepth = 666.982463; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:666.982463 # Seafloor depth:-706.982463 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 671.951551; finalDepth = 668.818433; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:668.818433 # Seafloor depth:-708.818433 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 672.323105; finalDepth = 671.951551; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:671.951551 # Seafloor depth:-711.951551 # behavior reson { duration = RESON_DURATION; 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 54.972675 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: 900.000000 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 = 54; # abortOnTimeout = True; initialDepth = 676.682551; finalDepth = 672.323105; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:672.323105 # Seafloor depth:-712.323105 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 694.397453; finalDepth = 676.682551; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:676.682551 # Seafloor depth:-716.682551 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 692.157247; finalDepth = 694.397453; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:694.397453 # Seafloor depth:-734.397453 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 695.562785; finalDepth = 692.157247; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:692.157247 # Seafloor depth:-732.157247 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 699.247109; finalDepth = 695.562785; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:695.562785 # Seafloor depth:-735.562785 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 698.587232; finalDepth = 699.247109; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:699.247109 # Seafloor depth:-739.247109 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 698.380229; finalDepth = 698.587232; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:698.587232 # Seafloor depth:-738.587232 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 695.416011; finalDepth = 698.380229; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:698.380229 # Seafloor depth:-738.380229 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 696.923986; finalDepth = 695.416011; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:695.416011 # Seafloor depth:-735.416011 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 696.692078; finalDepth = 696.923986; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:696.923986 # Seafloor depth:-736.923986 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 694.288422; finalDepth = 696.692078; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:696.692078 # Seafloor depth:-736.692078 # behavior reson { duration = RESON_DURATION; 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 54.972675 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: 900.000000 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 = 54; # abortOnTimeout = True; initialDepth = 692.315640; finalDepth = 694.288422; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:694.288422 # Seafloor depth:-734.288422 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 689.830101; finalDepth = 692.315640; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:692.31564 # Seafloor depth:-732.315640 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 688.989137; finalDepth = 689.830101; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:689.830101 # Seafloor depth:-729.830101 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 689.052280; finalDepth = 688.989137; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:688.989137 # Seafloor depth:-728.989137 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 688.832733; finalDepth = 689.052280; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:689.05228 # Seafloor depth:-729.052280 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 692.670630; finalDepth = 688.832733; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:688.832733 # Seafloor depth:-728.832733 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 695.290056; finalDepth = 692.670630; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:692.67063 # Seafloor depth:-732.670630 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 698.968129; finalDepth = 695.290056; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:695.290056 # Seafloor depth:-735.290056 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 700.530522; finalDepth = 698.968129; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:698.968129 # Seafloor depth:-738.968129 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 703.304143; finalDepth = 700.530522; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:700.530522 # Seafloor depth:-740.530522 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 703.508901; finalDepth = 703.304143; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:703.304143 # Seafloor depth:-743.304143 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 704.923107; finalDepth = 703.508901; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:703.508901 # Seafloor depth:-743.508901 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 704.907576; finalDepth = 704.923107; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:704.923107 # Seafloor depth:-744.923107 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 705.483931; finalDepth = 704.907576; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:704.907576 # Seafloor depth:-744.907576 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 705.558810; finalDepth = 705.483931; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:705.483931 # Seafloor depth:-745.483931 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 706.936088; finalDepth = 705.558810; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:705.55881 # Seafloor depth:-745.558810 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 709.232025; finalDepth = 706.936088; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:706.936088 # Seafloor depth:-746.936088 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 708.822718; finalDepth = 709.232025; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:709.232025 # Seafloor depth:-749.232025 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 711.098034; finalDepth = 708.822718; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:708.822718 # Seafloor depth:-748.822718 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 710.800953; finalDepth = 711.098034; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:711.098034 # Seafloor depth:-751.098034 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 710.740630; finalDepth = 710.800953; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:710.800953 # Seafloor depth:-750.800953 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 703.561484; finalDepth = 710.740630; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:710.74063 # Seafloor depth:-750.740630 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 701.339203; finalDepth = 703.561484; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:703.561484 # Seafloor depth:-743.561484 # behavior reson { duration = RESON_DURATION; 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 54.972675 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: 900.000000 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 = 54; # abortOnTimeout = True; initialDepth = 700.293004; finalDepth = 701.339203; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:701.339203 # Seafloor depth:-741.339203 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 702.739890; finalDepth = 700.293004; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:700.293004 # Seafloor depth:-740.293004 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 709.356791; finalDepth = 702.739890; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:702.73989 # Seafloor depth:-742.739890 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 718.121629; finalDepth = 709.356791; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:709.356791 # Seafloor depth:-749.356791 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 726.034840; finalDepth = 718.121629; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:718.121629 # Seafloor depth:-758.121629 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 732.033365; finalDepth = 726.034840; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:726.03484 # Seafloor depth:-766.034840 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 738.030242; finalDepth = 732.033365; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:732.033365 # Seafloor depth:-772.033365 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 741.805188; finalDepth = 738.030242; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:738.030242 # Seafloor depth:-778.030242 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 745.620066; finalDepth = 741.805188; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:741.805188 # Seafloor depth:-781.805188 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 750.139625; finalDepth = 745.620066; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:745.620066 # Seafloor depth:-785.620066 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 752.297026; finalDepth = 750.139625; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:750.139625 # Seafloor depth:-790.139625 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 755.319698; finalDepth = 752.297026; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:752.297026 # Seafloor depth:-792.297026 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 757.623666; finalDepth = 755.319698; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:755.319698 # Seafloor depth:-795.319698 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 759.672380; finalDepth = 757.623666; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:757.623666 # Seafloor depth:-797.623666 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 758.622333; finalDepth = 759.672380; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:759.67238 # Seafloor depth:-799.672380 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 758.292413; finalDepth = 758.622333; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:758.622333 # Seafloor depth:-798.622333 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 758.159012; finalDepth = 758.292413; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:758.292413 # Seafloor depth:-798.292413 # behavior reson { duration = RESON_DURATION; 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 54.972675 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: 900.000000 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 = 54; # abortOnTimeout = True; initialDepth = 752.582167; finalDepth = 758.159012; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:758.159012 # Seafloor depth:-798.159012 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 746.451542; finalDepth = 752.582167; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:752.582167 # Seafloor depth:-792.582167 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 741.363380; finalDepth = 746.451542; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:746.451542 # Seafloor depth:-786.451542 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 735.430968; finalDepth = 741.363380; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:741.36338 # Seafloor depth:-781.363380 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 731.291378; finalDepth = 735.430968; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:735.430968 # Seafloor depth:-775.430968 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 728.366277; finalDepth = 731.291378; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:731.291378 # Seafloor depth:-771.291378 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 723.506725; finalDepth = 728.366277; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:728.366277 # Seafloor depth:-768.366277 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 720.003776; finalDepth = 723.506725; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:723.506725 # Seafloor depth:-763.506725 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 712.569477; finalDepth = 720.003776; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:720.003776 # Seafloor depth:-760.003776 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 707.943159; finalDepth = 712.569477; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:712.569477 # Seafloor depth:-752.569477 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 705.778738; finalDepth = 707.943159; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:707.943159 # Seafloor depth:-747.943159 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 705.569162; finalDepth = 705.778738; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:705.778738 # Seafloor depth:-745.778738 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 707.075141; finalDepth = 705.569162; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:705.569162 # Seafloor depth:-745.569162 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 710.973662; finalDepth = 707.075141; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:707.075141 # Seafloor depth:-747.075141 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 713.165366; finalDepth = 710.973662; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:710.973662 # Seafloor depth:-750.973662 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 712.737265; finalDepth = 713.165366; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:713.165366 # Seafloor depth:-753.165366 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 712.515453; finalDepth = 712.737265; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:712.737265 # Seafloor depth:-752.737265 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 710.177558; finalDepth = 712.515453; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:712.515453 # Seafloor depth:-752.515453 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 706.414279; finalDepth = 710.177558; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:710.177558 # Seafloor depth:-750.177558 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 706.000682; finalDepth = 706.414279; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:706.414279 # Seafloor depth:-746.414279 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 702.487280; finalDepth = 706.000682; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:706.000682 # Seafloor depth:-746.000682 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 700.213478; finalDepth = 702.487280; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:702.48728 # Seafloor depth:-742.487280 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 697.962856; finalDepth = 700.213478; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:700.213478 # Seafloor depth:-740.213478 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 694.137161; finalDepth = 697.962856; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:697.962856 # Seafloor depth:-737.962856 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 688.420887; finalDepth = 694.137161; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:694.137161 # Seafloor depth:-734.137161 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 686.510902; finalDepth = 688.420887; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:688.420887 # Seafloor depth:-728.420887 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 686.609003; finalDepth = 686.510902; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:686.510902 # Seafloor depth:-726.510902 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 688.699306; finalDepth = 686.609003; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:686.609003 # Seafloor depth:-726.609003 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 694.837557; finalDepth = 688.699306; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:688.699306 # Seafloor depth:-728.699306 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 695.499893; finalDepth = 694.837557; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:694.837557 # Seafloor depth:-734.837557 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 698.650678; finalDepth = 695.499893; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:695.499893 # Seafloor depth:-735.499893 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 701.954948; finalDepth = 698.650678; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:698.650678 # Seafloor depth:-738.650678 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 703.616588; finalDepth = 701.954948; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:701.954948 # Seafloor depth:-741.954948 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 703.350647; finalDepth = 703.616588; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:703.616588 # Seafloor depth:-743.616588 # behavior reson { duration = RESON_DURATION; 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 54.972675 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: 900.000000 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 = 54; # abortOnTimeout = True; initialDepth = 708.565432; finalDepth = 703.350647; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:703.350647 # Seafloor depth:-743.350647 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 705.744944; finalDepth = 708.565432; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:708.565432 # Seafloor depth:-748.565432 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 704.302937; finalDepth = 705.744944; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:705.744944 # Seafloor depth:-745.744944 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 702.327151; finalDepth = 704.302937; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:704.302937 # Seafloor depth:-744.302937 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 701.547114; finalDepth = 702.327151; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:702.327151 # Seafloor depth:-742.327151 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 700.377120; finalDepth = 701.547114; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:701.547114 # Seafloor depth:-741.547114 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 696.131356; finalDepth = 700.377120; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:700.37712 # Seafloor depth:-740.377120 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 692.240973; finalDepth = 696.131356; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:696.131356 # Seafloor depth:-736.131356 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 683.222276; finalDepth = 692.240973; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:692.240973 # Seafloor depth:-732.240973 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 676.042735; finalDepth = 683.222276; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:683.222276 # Seafloor depth:-723.222276 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 667.483551; finalDepth = 676.042735; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:676.042735 # Seafloor depth:-716.042735 # behavior reson { duration = RESON_DURATION; 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 54.972675 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: 900.000000 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 = 54; # abortOnTimeout = True; initialDepth = 667.646183; finalDepth = 667.483551; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:667.483551 # Seafloor depth:-707.483551 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 670.326525; finalDepth = 667.646183; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:667.646183 # Seafloor depth:-707.646183 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 671.276440; finalDepth = 670.326525; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:670.326525 # Seafloor depth:-710.326525 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 671.760330; finalDepth = 671.276440; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:671.27644 # Seafloor depth:-711.276440 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 671.549280; finalDepth = 671.760330; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:671.76033 # Seafloor depth:-711.760330 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 673.851552; finalDepth = 671.549280; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:671.54928 # Seafloor depth:-711.549280 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 677.278249; finalDepth = 673.851552; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:673.851552 # Seafloor depth:-713.851552 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 679.139143; finalDepth = 677.278249; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:677.278249 # Seafloor depth:-717.278249 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 682.231371; finalDepth = 679.139143; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:679.139143 # Seafloor depth:-719.139143 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 681.142412; finalDepth = 682.231371; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:682.231371 # Seafloor depth:-722.231371 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 676.862005; finalDepth = 681.142412; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:681.142412 # Seafloor depth:-721.142412 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 678.020533; finalDepth = 676.862005; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:676.862005 # Seafloor depth:-716.862005 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 683.669922; finalDepth = 678.020533; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:678.020533 # Seafloor depth:-718.020533 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 691.345964; finalDepth = 683.669922; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:683.669922 # Seafloor depth:-723.669922 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 695.625103; finalDepth = 691.345964; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:691.345964 # Seafloor depth:-731.345964 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 698.020698; finalDepth = 695.625103; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:695.625103 # Seafloor depth:-735.625103 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 700.355803; finalDepth = 698.020698; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:698.020698 # Seafloor depth:-738.020698 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 702.611316; finalDepth = 700.355803; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:700.355803 # Seafloor depth:-740.355803 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 704.307672; finalDepth = 702.611316; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:702.611316 # Seafloor depth:-742.611316 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 705.567819; finalDepth = 704.307672; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:704.307672 # Seafloor depth:-744.307672 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 708.204051; finalDepth = 705.567819; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:705.567819 # Seafloor depth:-745.567819 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 712.166759; finalDepth = 708.204051; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:708.204051 # Seafloor depth:-748.204051 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 711.774435; finalDepth = 712.166759; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:712.166759 # Seafloor depth:-752.166759 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 711.746324; finalDepth = 711.774435; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:711.774435 # Seafloor depth:-751.774435 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 708.358897; finalDepth = 711.746324; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:711.746324 # Seafloor depth:-751.746324 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 705.189570; finalDepth = 708.358897; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:708.358897 # Seafloor depth:-748.358897 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 703.578562; finalDepth = 705.189570; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:705.18957 # Seafloor depth:-745.189570 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 710.677463; finalDepth = 703.578562; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:703.578562 # Seafloor depth:-743.578562 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 721.233859; finalDepth = 710.677463; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:710.677463 # Seafloor depth:-750.677463 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 727.784974; finalDepth = 721.233859; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:721.233859 # Seafloor depth:-761.233859 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 735.182896; finalDepth = 727.784974; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:727.784974 # Seafloor depth:-767.784974 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 748.541026; finalDepth = 735.182896; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:735.182896 # Seafloor depth:-775.182896 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 750.165649; finalDepth = 748.541026; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:748.541026 # Seafloor depth:-788.541026 # behavior reson { duration = RESON_DURATION; 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 42 # Segment length 54.972675 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: 900.000000 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 = 54; # abortOnTimeout = True; initialDepth = 751.678513; finalDepth = 750.165649; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:750.165649 # Seafloor depth:-790.165649 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 760.232516; finalDepth = 751.678513; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:751.678513 # Seafloor depth:-791.678513 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 770.334081; finalDepth = 760.232516; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:760.232516 # Seafloor depth:-800.232516 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 786.864227; finalDepth = 770.334081; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:770.334081 # Seafloor depth:-810.334081 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 793.006228; finalDepth = 786.864227; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:786.864227 # Seafloor depth:-826.864227 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 797.415113; finalDepth = 793.006228; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:793.006228 # Seafloor depth:-833.006228 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 799.758484; finalDepth = 797.415113; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:797.415113 # Seafloor depth:-837.415113 # behavior reson { duration = RESON_DURATION; 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 41 # Segment length 54.972675 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: 900.000000 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 = 54; # abortOnTimeout = True; initialDepth = 797.318937; finalDepth = 799.758484; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:799.758484 # Seafloor depth:-839.758484 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 795.160648; finalDepth = 797.318937; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:797.318937 # Seafloor depth:-837.318937 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 793.693603; finalDepth = 795.160648; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:795.160648 # Seafloor depth:-835.160648 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 786.460342; finalDepth = 793.693603; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:793.693603 # Seafloor depth:-833.693603 # behavior reson { duration = RESON_DURATION; 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 40 # Segment length 54.972675 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: 900.000000 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 = 54; # abortOnTimeout = True; initialDepth = 786.914425; finalDepth = 786.460342; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:786.460342 # Seafloor depth:-826.460342 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 782.148689; finalDepth = 786.914425; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:786.914425 # Seafloor depth:-826.914425 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 778.931010; finalDepth = 782.148689; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:782.148689 # Seafloor depth:-822.148689 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 774.882790; finalDepth = 778.931010; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:778.93101 # Seafloor depth:-818.931010 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 771.357278; finalDepth = 774.882790; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:774.88279 # Seafloor depth:-814.882790 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 769.405329; finalDepth = 771.357278; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:771.357278 # Seafloor depth:-811.357278 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 768.665665; finalDepth = 769.405329; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:769.405329 # Seafloor depth:-809.405329 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 767.917289; finalDepth = 768.665665; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:768.665665 # Seafloor depth:-808.665665 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 767.871039; finalDepth = 767.917289; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:767.917289 # Seafloor depth:-807.917289 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 767.065063; finalDepth = 767.871039; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:767.871039 # Seafloor depth:-807.871039 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 763.370630; finalDepth = 767.065063; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:767.065063 # Seafloor depth:-807.065063 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 759.964354; finalDepth = 763.370630; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:763.37063 # Seafloor depth:-803.370630 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 765.729172; finalDepth = 759.964354; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:759.964354 # Seafloor depth:-799.964354 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 775.487321; finalDepth = 765.729172; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:765.729172 # Seafloor depth:-805.729172 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 783.695206; finalDepth = 775.487321; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:775.487321 # Seafloor depth:-815.487321 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 788.331074; finalDepth = 783.695206; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:783.695206 # Seafloor depth:-823.695206 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 788.911602; finalDepth = 788.331074; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:788.331074 # Seafloor depth:-828.331074 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 789.126143; finalDepth = 788.911602; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:788.911602 # Seafloor depth:-828.911602 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 787.177291; finalDepth = 789.126143; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:789.126143 # Seafloor depth:-829.126143 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 787.567004; finalDepth = 787.177291; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:787.177291 # Seafloor depth:-827.177291 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 795.025270; finalDepth = 787.567004; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:787.567004 # Seafloor depth:-827.567004 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 800.387401; finalDepth = 795.025270; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:795.02527 # Seafloor depth:-835.025270 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.387401 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.764878; longitude = -117.482056; captureRadius = 10; duration = 54; initialDepth = 805.770354; finalDepth = 800.387401; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:800.387401 # Seafloor depth:-840.387401 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 805.770354 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.765344; longitude = -117.482220; captureRadius = 10; duration = 54; initialDepth = 806.191003; finalDepth = 805.770354; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:805.770354 # Seafloor depth:-845.770354 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 806.191003 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.765788; longitude = -117.482376; captureRadius = 10; duration = 54; initialDepth = 804.620121; finalDepth = 806.191003; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:806.191003 # Seafloor depth:-846.191003 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 804.620121 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.766243; longitude = -117.482536; captureRadius = 10; duration = 54; initialDepth = 798.885933; finalDepth = 804.620121; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:804.620121 # Seafloor depth:-844.620121 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 792.499922; finalDepth = 798.885933; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:798.885933 # Seafloor depth:-838.885933 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 785.717770; finalDepth = 792.499922; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:792.499922 # Seafloor depth:-832.499922 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 780.925114; finalDepth = 785.717770; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:785.71777 # Seafloor depth:-825.717770 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 779.071625; finalDepth = 780.925114; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:780.925114 # Seafloor depth:-820.925114 # behavior reson { duration = RESON_DURATION; 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 39 # Segment length 54.972675 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: 900.000000 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 = 54; # abortOnTimeout = True; initialDepth = 782.806436; finalDepth = 779.071625; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:779.071625 # Seafloor depth:-819.071625 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 785.700178; finalDepth = 782.806436; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:782.806436 # Seafloor depth:-822.806436 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 785.539245; finalDepth = 785.700178; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:785.700178 # Seafloor depth:-825.700178 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 786.826299; finalDepth = 785.539245; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:785.539245 # Seafloor depth:-825.539245 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 791.727683; finalDepth = 786.826299; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:786.826299 # Seafloor depth:-826.826299 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 796.320256; finalDepth = 791.727683; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:791.727683 # Seafloor depth:-831.727683 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 800.332526; finalDepth = 796.320256; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:796.320256 # Seafloor depth:-836.320256 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.332526 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.768738; longitude = -117.487818; captureRadius = 10; duration = 54; initialDepth = 804.654639; finalDepth = 800.332526; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:800.332526 # Seafloor depth:-840.332526 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 804.654639 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.768749; longitude = -117.488458; captureRadius = 10; duration = 54; initialDepth = 809.020746; finalDepth = 804.654639; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:804.654639 # Seafloor depth:-844.654639 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 809.020746 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.768760; longitude = -117.489098; captureRadius = 10; duration = 54; initialDepth = 816.595605; finalDepth = 809.020746; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:809.020746 # Seafloor depth:-849.020746 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 816.595605 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.768772; longitude = -117.489739; captureRadius = 10; duration = 54; initialDepth = 815.672806; finalDepth = 816.595605; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:816.595605 # Seafloor depth:-856.595605 # behavior reson { duration = RESON_DURATION; 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 38 # Segment length 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 815.672806 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.768781; longitude = -117.490281; captureRadius = 10; duration = 54; # abortOnTimeout = True; initialDepth = 815.261656; finalDepth = 815.672806; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:815.672806 # Seafloor depth:-855.672806 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 54.972675 meters # Minimum depth: 855.261656 meters looking forward 0.000000 meters along route # Maximum depth: 855.261656 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 815.261656 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.769133; longitude = -117.490258; captureRadius = 10; duration = 54; initialDepth = 819.416569; finalDepth = 815.261656; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:815.261656 # Seafloor depth:-855.261656 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 54.972675 meters # Minimum depth: 859.416569 meters looking forward 0.000000 meters along route # Maximum depth: 859.416569 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 819.416569 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.769715; longitude = -117.490219; captureRadius = 10; duration = 54; initialDepth = 821.791378; finalDepth = 819.416569; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:819.416569 # Seafloor depth:-859.416569 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 54.972675 meters # Minimum depth: 861.791378 meters looking forward 0.000000 meters along route # Maximum depth: 861.791378 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 821.791378 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.770216; longitude = -117.490185; captureRadius = 10; duration = 54; initialDepth = 828.588626; finalDepth = 821.791378; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:821.791378 # Seafloor depth:-861.791378 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 54.972675 meters # Minimum depth: 868.588626 meters looking forward 0.000000 meters along route # Maximum depth: 868.588626 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 828.588626 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.770757; longitude = -117.490149; captureRadius = 10; duration = 54; initialDepth = 838.631495; finalDepth = 828.588626; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:828.588626 # Seafloor depth:-868.588626 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 54.972675 meters # Minimum depth: 878.631495 meters looking forward 0.000000 meters along route # Maximum depth: 878.631495 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 838.631495 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.771299; longitude = -117.490113; captureRadius = 10; duration = 54; initialDepth = 846.267714; finalDepth = 838.631495; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:838.631495 # Seafloor depth:-878.631495 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 54.972675 meters # Minimum depth: 886.267714 meters looking forward 0.000000 meters along route # Maximum depth: 886.267714 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 846.267714 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.771840; longitude = -117.490077; captureRadius = 10; duration = 54; initialDepth = 855.609761; finalDepth = 846.267714; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:846.267714 # Seafloor depth:-886.267714 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 54.972675 meters # Minimum depth: 895.609761 meters looking forward 0.000000 meters along route # Maximum depth: 895.609761 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 855.609761 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.772381; longitude = -117.490041; captureRadius = 10; duration = 54; initialDepth = 859.833612; finalDepth = 855.609761; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:855.609761 # Seafloor depth:-895.609761 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 54.972675 meters # Minimum depth: 899.833612 meters looking forward 0.000000 meters along route # Maximum depth: 899.833612 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 859.833612 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.772923; longitude = -117.490005; captureRadius = 10; duration = 54; initialDepth = 860.185066; finalDepth = 859.833612; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:859.833612 # Seafloor depth:-899.833612 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 54.972675 meters # Minimum depth: 900.185066 meters looking forward 0.000000 meters along route # Maximum depth: 900.185066 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 860.185066 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.773464; longitude = -117.489969; captureRadius = 10; duration = 54; initialDepth = 859.911364; finalDepth = 860.185066; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:860.185066 # Seafloor depth:-900.185066 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 54.972675 meters # Minimum depth: 899.911364 meters looking forward 0.000000 meters along route # Maximum depth: 899.911364 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 859.911364 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.774006; longitude = -117.489933; captureRadius = 10; duration = 54; initialDepth = 860.129157; finalDepth = 859.911364; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:859.911364 # Seafloor depth:-899.911364 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 54.972675 meters # Minimum depth: 900.129157 meters looking forward 0.000000 meters along route # Maximum depth: 900.129157 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 860.129157 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.774547; longitude = -117.489897; captureRadius = 10; duration = 54; initialDepth = 858.366821; finalDepth = 860.129157; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:860.129157 # Seafloor depth:-900.129157 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 54.972675 meters # Minimum depth: 898.366821 meters looking forward 0.000000 meters along route # Maximum depth: 898.366821 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 858.366821 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.775088; longitude = -117.489861; captureRadius = 10; duration = 54; initialDepth = 855.772239; finalDepth = 858.366821; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:858.366821 # Seafloor depth:-898.366821 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 54.972675 meters # Minimum depth: 895.772239 meters looking forward 0.000000 meters along route # Maximum depth: 895.772239 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 855.772239 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.775630; longitude = -117.489825; captureRadius = 10; duration = 54; initialDepth = 850.532389; finalDepth = 855.772239; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:855.772239 # Seafloor depth:-895.772239 # behavior reson { duration = RESON_DURATION; 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 37 # Segment length 54.972675 meters # Minimum depth: 890.532389 meters looking forward 0.000000 meters along route # Maximum depth: 890.532389 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 850.532389 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.776126; longitude = -117.489792; captureRadius = 10; duration = 54; # abortOnTimeout = True; initialDepth = 855.567747; finalDepth = 850.532389; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:850.532389 # Seafloor depth:-890.532389 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 54.972675 meters # Minimum depth: 895.567747 meters looking forward 0.000000 meters along route # Maximum depth: 895.567747 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 855.567747 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.776476; longitude = -117.490219; captureRadius = 10; duration = 54; initialDepth = 854.884335; finalDepth = 855.567747; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:855.567747 # Seafloor depth:-895.567747 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 54.972675 meters # Minimum depth: 894.884335 meters looking forward 0.000000 meters along route # Maximum depth: 894.884335 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 854.884335 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.776871; longitude = -117.490699; captureRadius = 10; duration = 54; initialDepth = 848.454487; finalDepth = 854.884335; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:854.884335 # Seafloor depth:-894.884335 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 54.972675 meters # Minimum depth: 888.454487 meters looking forward 0.000000 meters along route # Maximum depth: 888.454487 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 848.454487 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.777265; longitude = -117.491179; captureRadius = 10; duration = 54; initialDepth = 839.714172; finalDepth = 848.454487; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:848.454487 # Seafloor depth:-888.454487 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 54.972675 meters # Minimum depth: 879.714172 meters looking forward 0.000000 meters along route # Maximum depth: 879.714172 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 839.714172 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.777660; longitude = -117.491659; captureRadius = 10; duration = 54; initialDepth = 833.934315; finalDepth = 839.714172; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:839.714172 # Seafloor depth:-879.714172 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 54.972675 meters # Minimum depth: 873.934315 meters looking forward 0.000000 meters along route # Maximum depth: 873.934315 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 833.934315 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.778066; longitude = -117.492154; captureRadius = 10; duration = 54; initialDepth = 827.234231; finalDepth = 833.934315; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:833.934315 # Seafloor depth:-873.934315 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 54.972675 meters # Minimum depth: 867.234231 meters looking forward 0.000000 meters along route # Maximum depth: 867.234231 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 827.234231 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.778472; longitude = -117.492648; captureRadius = 10; duration = 54; initialDepth = 824.318392; finalDepth = 827.234231; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:827.234231 # Seafloor depth:-867.234231 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 54.972675 meters # Minimum depth: 864.318392 meters looking forward 0.000000 meters along route # Maximum depth: 864.318392 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 824.318392 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.778878; longitude = -117.493142; captureRadius = 10; duration = 54; initialDepth = 821.688151; finalDepth = 824.318392; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:824.318392 # Seafloor depth:-864.318392 # behavior reson { duration = RESON_DURATION; 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 36 # Segment length 54.972675 meters # Minimum depth: 861.688151 meters looking forward 0.000000 meters along route # Maximum depth: 861.688151 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 821.688151 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.779194; longitude = -117.493527; captureRadius = 10; duration = 54; # abortOnTimeout = True; initialDepth = 823.348130; finalDepth = 821.688151; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:821.688151 # Seafloor depth:-861.688151 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 54.972675 meters # Minimum depth: 863.348130 meters looking forward 0.000000 meters along route # Maximum depth: 863.348130 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 823.348130 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.779160; longitude = -117.493900; captureRadius = 10; duration = 54; initialDepth = 826.116206; finalDepth = 823.348130; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:823.34813 # Seafloor depth:-863.348130 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 54.972675 meters # Minimum depth: 866.116206 meters looking forward 0.000000 meters along route # Maximum depth: 866.116206 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 826.116206 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.779102; longitude = -117.494540; captureRadius = 10; duration = 54; initialDepth = 831.635021; finalDepth = 826.116206; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:826.116206 # Seafloor depth:-866.116206 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 54.972675 meters # Minimum depth: 871.635021 meters looking forward 0.000000 meters along route # Maximum depth: 871.635021 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 831.635021 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.779045; longitude = -117.495181; captureRadius = 10; duration = 54; initialDepth = 838.620613; finalDepth = 831.635021; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:831.635021 # Seafloor depth:-871.635021 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 54.972675 meters # Minimum depth: 878.620613 meters looking forward 0.000000 meters along route # Maximum depth: 878.620613 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 838.620613 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.778987; longitude = -117.495821; captureRadius = 10; duration = 54; initialDepth = 848.380704; finalDepth = 838.620613; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:838.620613 # Seafloor depth:-878.620613 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 54.972675 meters # Minimum depth: 888.380704 meters looking forward 0.000000 meters along route # Maximum depth: 888.380704 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 848.380704 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.778929; longitude = -117.496461; captureRadius = 10; duration = 54; initialDepth = 862.253977; finalDepth = 848.380704; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:848.380704 # Seafloor depth:-888.380704 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 54.972675 meters # Minimum depth: 902.253977 meters looking forward 0.000000 meters along route # Maximum depth: 902.253977 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 862.253977 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.778878; longitude = -117.497031; captureRadius = 10; duration = 54; initialDepth = 880.432076; finalDepth = 862.253977; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:862.253977 # Seafloor depth:-902.253977 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 54.972675 meters # Minimum depth: 920.432076 meters looking forward 0.000000 meters along route # Maximum depth: 920.432076 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 880.432076 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.778828; longitude = -117.497581; captureRadius = 10; duration = 54; initialDepth = 884.901935; finalDepth = 880.432076; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:880.432076 # Seafloor depth:-920.432076 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 54.972675 meters # Minimum depth: 924.901935 meters looking forward 0.000000 meters along route # Maximum depth: 924.901935 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 884.901935 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.778771; longitude = -117.498222; captureRadius = 10; duration = 54; initialDepth = 882.625472; finalDepth = 884.901935; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:884.901935 # Seafloor depth:-924.901935 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 54.972675 meters # Minimum depth: 922.625472 meters looking forward 0.000000 meters along route # Maximum depth: 922.625472 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 882.625472 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.778713; longitude = -117.498862; captureRadius = 10; duration = 54; initialDepth = 875.112544; finalDepth = 882.625472; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:882.625472 # Seafloor depth:-922.625472 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 54.972675 meters # Minimum depth: 915.112544 meters looking forward 0.000000 meters along route # Maximum depth: 915.112544 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 875.112544 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.778655; longitude = -117.499502; captureRadius = 10; duration = 54; initialDepth = 872.517992; finalDepth = 875.112544; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:875.112544 # Seafloor depth:-915.112544 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 54.972675 meters # Minimum depth: 912.517992 meters looking forward 0.000000 meters along route # Maximum depth: 912.517992 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 872.517992 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.778607; longitude = -117.500035; captureRadius = 10; duration = 54; initialDepth = 870.832710; finalDepth = 872.517992; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:872.517992 # Seafloor depth:-912.517992 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 54.972675 meters # Minimum depth: 910.832710 meters looking forward 0.000000 meters along route # Maximum depth: 910.832710 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 870.832710 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.778554; longitude = -117.500622; captureRadius = 10; duration = 54; initialDepth = 869.997938; finalDepth = 870.832710; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:870.83271 # Seafloor depth:-910.832710 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 54.972675 meters # Minimum depth: 909.997938 meters looking forward 0.000000 meters along route # Maximum depth: 909.997938 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 869.997938 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.778497; longitude = -117.501263; captureRadius = 10; duration = 54; initialDepth = 869.708074; finalDepth = 869.997938; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:869.997938 # Seafloor depth:-909.997938 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 54.972675 meters # Minimum depth: 909.708074 meters looking forward 0.000000 meters along route # Maximum depth: 909.708074 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 869.708074 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.778439; longitude = -117.501903; captureRadius = 10; duration = 54; initialDepth = 868.120972; finalDepth = 869.708074; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:869.708074 # Seafloor depth:-909.708074 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 54.972675 meters # Minimum depth: 908.120972 meters looking forward 0.000000 meters along route # Maximum depth: 908.120972 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 868.120972 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.778381; longitude = -117.502543; captureRadius = 10; duration = 54; initialDepth = 866.536256; finalDepth = 868.120972; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:868.120972 # Seafloor depth:-908.120972 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 54.972675 meters # Minimum depth: 906.536256 meters looking forward 0.000000 meters along route # Maximum depth: 906.536256 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 866.536256 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.778323; longitude = -117.503183; captureRadius = 10; duration = 54; initialDepth = 866.222770; finalDepth = 866.536256; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:866.536256 # Seafloor depth:-906.536256 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 54.972675 meters # Minimum depth: 906.222770 meters looking forward 0.000000 meters along route # Maximum depth: 906.222770 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 866.222770 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.778266; longitude = -117.503824; captureRadius = 10; duration = 54; initialDepth = 865.044270; finalDepth = 866.222770; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:866.22277 # Seafloor depth:-906.222770 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 54.972675 meters # Minimum depth: 905.044270 meters looking forward 0.000000 meters along route # Maximum depth: 905.044270 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 865.044270 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.778208; longitude = -117.504464; captureRadius = 10; duration = 54; initialDepth = 863.687683; finalDepth = 865.044270; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:865.04427 # Seafloor depth:-905.044270 # behavior reson { duration = RESON_DURATION; 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 35 # Segment length 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 863.687683 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.778160; longitude = -117.504997; captureRadius = 10; duration = 54; # abortOnTimeout = True; initialDepth = 863.934949; finalDepth = 863.687683; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:863.687683 # Seafloor depth:-903.687683 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 863.934949 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.778367; longitude = -117.505264; captureRadius = 10; duration = 54; initialDepth = 862.333300; finalDepth = 863.934949; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:863.934949 # Seafloor depth:-903.934949 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 862.333300 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.778742; longitude = -117.505747; captureRadius = 10; duration = 54; initialDepth = 863.711979; finalDepth = 862.333300; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:862.3333 # Seafloor depth:-902.333300 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 863.711979 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.779113; longitude = -117.506224; captureRadius = 10; duration = 54; initialDepth = 863.318459; finalDepth = 863.711979; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:863.711979 # Seafloor depth:-903.711979 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 863.318459 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.779419; longitude = -117.506619; captureRadius = 10; duration = 54; initialDepth = 865.429675; finalDepth = 863.318459; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:863.318459 # Seafloor depth:-903.318459 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 865.429675 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.779735; longitude = -117.507025; captureRadius = 10; duration = 54; initialDepth = 865.422822; finalDepth = 865.429675; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:865.429675 # Seafloor depth:-905.429675 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 865.422822 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.780107; longitude = -117.507505; captureRadius = 10; duration = 54; initialDepth = 865.316272; finalDepth = 865.422822; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:865.422822 # Seafloor depth:-905.422822 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 865.316272 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.780502; longitude = -117.508013; captureRadius = 10; duration = 54; initialDepth = 868.693661; finalDepth = 865.316272; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:865.316272 # Seafloor depth:-905.316272 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 868.693661 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.780908; longitude = -117.508536; captureRadius = 10; duration = 54; initialDepth = 869.335434; finalDepth = 868.693661; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:868.693661 # Seafloor depth:-908.693661 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 869.335434 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.781226; longitude = -117.508945; captureRadius = 10; duration = 54; initialDepth = 870.751501; finalDepth = 869.335434; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:869.335434 # Seafloor depth:-909.335434 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 870.751501 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.781599; longitude = -117.509426; captureRadius = 10; duration = 54; initialDepth = 871.316043; finalDepth = 870.751501; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:870.751501 # Seafloor depth:-910.751501 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 871.316043 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.781991; longitude = -117.509930; captureRadius = 10; duration = 54; initialDepth = 870.387100; finalDepth = 871.316043; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:871.316043 # Seafloor depth:-911.316043 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 870.387100 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.782397; longitude = -117.510453; captureRadius = 10; duration = 54; initialDepth = 868.153766; finalDepth = 870.387100; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:870.3871 # Seafloor depth:-910.387100 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 868.153766 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.782717; longitude = -117.510866; captureRadius = 10; duration = 54; initialDepth = 870.276948; finalDepth = 868.153766; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:868.153766 # Seafloor depth:-908.153766 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 870.276948 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.783090; longitude = -117.511346; captureRadius = 10; duration = 54; initialDepth = 871.075119; finalDepth = 870.276948; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:870.276948 # Seafloor depth:-910.276948 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 871.075119 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.783479; longitude = -117.511847; captureRadius = 10; duration = 54; initialDepth = 868.868149; finalDepth = 871.075119; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:871.075119 # Seafloor depth:-911.075119 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 868.868149 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.783885; longitude = -117.512370; captureRadius = 10; duration = 54; initialDepth = 869.113101; finalDepth = 868.868149; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:868.868149 # Seafloor depth:-908.868149 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 869.113101 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.784209; longitude = -117.512787; captureRadius = 10; duration = 54; initialDepth = 868.902122; finalDepth = 869.113101; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:869.113101 # Seafloor depth:-909.113101 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 868.902122 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.784582; longitude = -117.513267; captureRadius = 10; duration = 54; initialDepth = 869.936493; finalDepth = 868.902122; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:868.902122 # Seafloor depth:-908.902122 # behavior reson { duration = RESON_DURATION; 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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 869.936493 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.784894; longitude = -117.513669; captureRadius = 10; duration = 54; # abortOnTimeout = True; initialDepth = 869.894771; finalDepth = 869.936493; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:869.936493 # Seafloor depth:-909.936493 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 869.894771 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.785245; longitude = -117.513267; captureRadius = 10; duration = 54; initialDepth = 870.225968; finalDepth = 869.894771; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:869.894771 # Seafloor depth:-909.894771 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 870.225968 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.785664; longitude = -117.512787; captureRadius = 10; duration = 54; initialDepth = 871.506398; finalDepth = 870.225968; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:870.225968 # Seafloor depth:-910.225968 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 871.506398 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.786083; longitude = -117.512307; captureRadius = 10; duration = 54; initialDepth = 870.953252; finalDepth = 871.506398; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:871.506398 # Seafloor depth:-911.506398 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 870.953252 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.786457; longitude = -117.511879; captureRadius = 10; duration = 54; initialDepth = 870.564009; finalDepth = 870.953252; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:870.953252 # Seafloor depth:-910.953252 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 870.564009 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.786782; longitude = -117.511506; captureRadius = 10; duration = 54; initialDepth = 869.717198; finalDepth = 870.564009; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:870.564009 # Seafloor depth:-910.564009 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 869.717198 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.787134; longitude = -117.511103; captureRadius = 10; duration = 54; initialDepth = 868.674903; finalDepth = 869.717198; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:869.717198 # Seafloor depth:-909.717198 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 868.674903 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.787481; longitude = -117.510706; captureRadius = 10; duration = 54; initialDepth = 868.999287; finalDepth = 868.674903; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:868.674903 # Seafloor depth:-908.674903 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 868.999287 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.787810; longitude = -117.510328; captureRadius = 10; duration = 54; initialDepth = 868.593673; finalDepth = 868.999287; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:868.999287 # Seafloor depth:-908.999287 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 868.593673 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.788216; longitude = -117.509863; captureRadius = 10; duration = 54; initialDepth = 868.955196; finalDepth = 868.593673; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:868.593673 # Seafloor depth:-908.593673 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 868.955196 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.788622; longitude = -117.509398; captureRadius = 10; duration = 54; initialDepth = 869.700720; finalDepth = 868.955196; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:868.955196 # Seafloor depth:-908.955196 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 869.700720 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.789028; longitude = -117.508933; captureRadius = 10; duration = 54; initialDepth = 869.647138; finalDepth = 869.700720; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:869.70072 # Seafloor depth:-909.700720 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 869.647138 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.789437; longitude = -117.508465; captureRadius = 10; duration = 54; initialDepth = 867.730821; finalDepth = 869.647138; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:869.647138 # Seafloor depth:-909.647138 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 867.730821 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.789856; longitude = -117.507985; captureRadius = 10; duration = 54; initialDepth = 868.452337; finalDepth = 867.730821; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:867.730821 # Seafloor depth:-907.730821 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 868.452337 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.790275; longitude = -117.507505; captureRadius = 10; duration = 54; initialDepth = 866.506973; finalDepth = 868.452337; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:868.452337 # Seafloor depth:-908.452337 # behavior reson { duration = RESON_DURATION; 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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 866.506973 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.790665; longitude = -117.507058; captureRadius = 10; duration = 54; # abortOnTimeout = True; initialDepth = 866.178158; finalDepth = 866.506973; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:866.506973 # Seafloor depth:-906.506973 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 866.178158 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.790886; longitude = -117.507345; captureRadius = 10; duration = 54; initialDepth = 867.813355; finalDepth = 866.178158; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:866.178158 # Seafloor depth:-906.178158 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 867.813355 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.791194; longitude = -117.507746; captureRadius = 10; duration = 54; initialDepth = 865.691368; finalDepth = 867.813355; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:867.813355 # Seafloor depth:-907.813355 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 865.691368 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.791501; longitude = -117.508145; captureRadius = 10; duration = 54; initialDepth = 864.317608; finalDepth = 865.691368; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:865.691368 # Seafloor depth:-905.691368 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 864.317608 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.791871; longitude = -117.508626; captureRadius = 10; duration = 54; initialDepth = 863.960371; finalDepth = 864.317608; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:864.317608 # Seafloor depth:-904.317608 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 863.960371 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.792277; longitude = -117.509154; captureRadius = 10; duration = 54; initialDepth = 864.544768; finalDepth = 863.960371; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:863.960371 # Seafloor depth:-903.960371 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 864.544768 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.792608; longitude = -117.509586; captureRadius = 10; duration = 54; initialDepth = 864.305356; finalDepth = 864.544768; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:864.544768 # Seafloor depth:-904.544768 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 864.305356 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.792977; longitude = -117.510066; captureRadius = 10; duration = 54; initialDepth = 866.441243; finalDepth = 864.305356; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:864.305356 # Seafloor depth:-904.305356 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 866.441243 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.793359; longitude = -117.510563; captureRadius = 10; duration = 54; initialDepth = 866.040939; finalDepth = 866.441243; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:866.441243 # Seafloor depth:-906.441243 # behavior reson { duration = RESON_DURATION; 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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 866.040939 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.793671; longitude = -117.510968; captureRadius = 10; duration = 54; # abortOnTimeout = True; initialDepth = 865.684312; finalDepth = 866.040939; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:866.040939 # Seafloor depth:-906.040939 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 865.684312 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.793571; longitude = -117.511186; captureRadius = 10; duration = 54; initialDepth = 864.298029; finalDepth = 865.684312; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:865.684312 # Seafloor depth:-905.684312 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 864.298029 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.793352; longitude = -117.511666; captureRadius = 10; duration = 54; initialDepth = 865.715390; finalDepth = 864.298029; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:864.298029 # Seafloor depth:-904.298029 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 865.715390 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.793132; longitude = -117.512147; captureRadius = 10; duration = 54; initialDepth = 865.150911; finalDepth = 865.715390; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:865.71539 # Seafloor depth:-905.715390 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 865.150911 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.792912; longitude = -117.512627; captureRadius = 10; duration = 54; initialDepth = 866.783728; finalDepth = 865.150911; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:865.150911 # Seafloor depth:-905.150911 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 866.783728 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.792693; longitude = -117.513107; captureRadius = 10; duration = 54; initialDepth = 867.284250; finalDepth = 866.783728; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:866.783728 # Seafloor depth:-906.783728 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 867.284250 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.792473; longitude = -117.513587; captureRadius = 10; duration = 54; initialDepth = 869.768916; finalDepth = 867.284250; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:867.28425 # Seafloor depth:-907.284250 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 869.768916 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.792254; longitude = -117.514067; captureRadius = 10; duration = 54; initialDepth = 870.146962; finalDepth = 869.768916; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:869.768916 # Seafloor depth:-909.768916 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 870.146962 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.792034; longitude = -117.514547; captureRadius = 10; duration = 54; initialDepth = 871.622276; finalDepth = 870.146962; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:870.146962 # Seafloor depth:-910.146962 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 871.622276 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.791815; longitude = -117.515028; captureRadius = 10; duration = 54; initialDepth = 871.901309; finalDepth = 871.622276; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:871.622276 # Seafloor depth:-911.622276 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 871.901309 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.791595; longitude = -117.515508; captureRadius = 10; duration = 54; initialDepth = 872.403432; finalDepth = 871.901309; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:871.901309 # Seafloor depth:-911.901309 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 872.403432 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.791375; longitude = -117.515988; captureRadius = 10; duration = 54; initialDepth = 872.454391; finalDepth = 872.403432; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:872.403432 # Seafloor depth:-912.403432 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 872.454391 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.791156; longitude = -117.516468; captureRadius = 10; duration = 54; initialDepth = 872.683810; finalDepth = 872.454391; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:872.454391 # Seafloor depth:-912.454391 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 872.683810 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.790936; longitude = -117.516948; captureRadius = 10; duration = 54; initialDepth = 873.962310; finalDepth = 872.683810; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:872.68381 # Seafloor depth:-912.683810 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 873.962310 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.790717; longitude = -117.517428; captureRadius = 10; duration = 54; initialDepth = 873.947525; finalDepth = 873.962310; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:873.96231 # Seafloor depth:-913.962310 # behavior reson { duration = RESON_DURATION; 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 31 # Segment length 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 873.947525 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.790485; longitude = -117.517935; captureRadius = 10; duration = 54; # abortOnTimeout = True; initialDepth = 875.436942; finalDepth = 873.947525; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:873.947525 # Seafloor depth:-913.947525 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 875.436942 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.790193; longitude = -117.517588; captureRadius = 10; duration = 54; initialDepth = 875.485106; finalDepth = 875.436942; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:875.436942 # Seafloor depth:-915.436942 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 875.485106 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.789840; longitude = -117.517171; captureRadius = 10; duration = 54; initialDepth = 873.929710; finalDepth = 875.485106; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:875.485106 # Seafloor depth:-915.485106 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 873.929710 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.789518; longitude = -117.516788; captureRadius = 10; duration = 54; initialDepth = 875.206976; finalDepth = 873.929710; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:873.92971 # Seafloor depth:-913.929710 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 875.206976 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.789164; longitude = -117.516369; captureRadius = 10; duration = 54; initialDepth = 874.648099; finalDepth = 875.206976; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:875.206976 # Seafloor depth:-915.206976 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 874.648099 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.788843; longitude = -117.515988; captureRadius = 10; duration = 54; initialDepth = 874.743500; finalDepth = 874.648099; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:874.648099 # Seafloor depth:-914.648099 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 874.743500 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.788487; longitude = -117.515566; captureRadius = 10; duration = 54; initialDepth = 874.553118; finalDepth = 874.743500; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:874.7435 # Seafloor depth:-914.743500 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 874.553118 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.788167; longitude = -117.515188; captureRadius = 10; duration = 54; initialDepth = 876.464256; finalDepth = 874.553118; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:874.553118 # Seafloor depth:-914.553118 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 876.464256 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.787762; longitude = -117.514707; captureRadius = 10; duration = 54; initialDepth = 873.094096; finalDepth = 876.464256; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:876.464256 # Seafloor depth:-916.464256 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 873.094096 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.787357; longitude = -117.514227; captureRadius = 10; duration = 54; initialDepth = 871.732466; finalDepth = 873.094096; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:873.094096 # Seafloor depth:-913.094096 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 871.732466 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.786952; longitude = -117.513747; captureRadius = 10; duration = 54; initialDepth = 869.151702; finalDepth = 871.732466; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:871.732466 # Seafloor depth:-911.732466 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 869.151702 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.786547; longitude = -117.513267; captureRadius = 10; duration = 54; initialDepth = 870.413907; finalDepth = 869.151702; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:869.151702 # Seafloor depth:-909.151702 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 870.413907 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.786142; longitude = -117.512787; captureRadius = 10; duration = 54; initialDepth = 872.029490; finalDepth = 870.413907; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:870.413907 # Seafloor depth:-910.413907 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 872.029490 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.785737; longitude = -117.512307; captureRadius = 10; duration = 54; initialDepth = 872.067455; finalDepth = 872.029490; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:872.02949 # Seafloor depth:-912.029490 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 872.067455 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.785332; longitude = -117.511826; captureRadius = 10; duration = 54; initialDepth = 874.292407; finalDepth = 872.067455; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:872.067455 # Seafloor depth:-912.067455 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 874.292407 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.784927; longitude = -117.511346; captureRadius = 10; duration = 54; initialDepth = 873.768612; finalDepth = 874.292407; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:874.292407 # Seafloor depth:-914.292407 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 873.768612 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.784522; longitude = -117.510866; captureRadius = 10; duration = 54; initialDepth = 872.351894; finalDepth = 873.768612; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:873.768612 # Seafloor depth:-913.768612 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 872.351894 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.784117; longitude = -117.510386; captureRadius = 10; duration = 54; initialDepth = 872.118288; finalDepth = 872.351894; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:872.351894 # Seafloor depth:-912.351894 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 872.118288 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.783712; longitude = -117.509906; captureRadius = 10; duration = 54; initialDepth = 871.222811; finalDepth = 872.118288; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:872.118288 # Seafloor depth:-912.118288 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 871.222811 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.783307; longitude = -117.509426; captureRadius = 10; duration = 54; initialDepth = 871.075897; finalDepth = 871.222811; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:871.222811 # Seafloor depth:-911.222811 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 871.075897 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.782902; longitude = -117.508945; captureRadius = 10; duration = 54; initialDepth = 867.744028; finalDepth = 871.075897; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:871.075897 # Seafloor depth:-911.075897 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 867.744028 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.782497; longitude = -117.508465; captureRadius = 10; duration = 54; initialDepth = 868.006663; finalDepth = 867.744028; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:867.744028 # Seafloor depth:-907.744028 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 868.006663 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.782092; longitude = -117.507985; captureRadius = 10; duration = 54; initialDepth = 866.554435; finalDepth = 868.006663; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:868.006663 # Seafloor depth:-908.006663 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 866.554435 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.781687; longitude = -117.507505; captureRadius = 10; duration = 54; initialDepth = 865.517909; finalDepth = 866.554435; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:866.554435 # Seafloor depth:-906.554435 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 865.517909 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.781282; longitude = -117.507025; captureRadius = 10; duration = 54; initialDepth = 863.395732; finalDepth = 865.517909; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:865.517909 # Seafloor depth:-905.517909 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 863.395732 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.780877; longitude = -117.506545; captureRadius = 10; duration = 54; initialDepth = 864.808047; finalDepth = 863.395732; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:863.395732 # Seafloor depth:-903.395732 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 864.808047 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.780472; longitude = -117.506064; captureRadius = 10; duration = 54; initialDepth = 866.092995; finalDepth = 864.808047; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:864.808047 # Seafloor depth:-904.808047 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 866.092995 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.780067; longitude = -117.505584; captureRadius = 10; duration = 54; initialDepth = 865.275343; finalDepth = 866.092995; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:866.092995 # Seafloor depth:-906.092995 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 865.275343 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.779662; longitude = -117.505104; captureRadius = 10; duration = 54; initialDepth = 866.346627; finalDepth = 865.275343; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:865.275343 # Seafloor depth:-905.275343 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 866.346627 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.779257; longitude = -117.504624; captureRadius = 10; duration = 54; initialDepth = 864.761852; finalDepth = 866.346627; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:866.346627 # Seafloor depth:-906.346627 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 864.761852 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.778852; longitude = -117.504144; captureRadius = 10; duration = 54; initialDepth = 866.362228; finalDepth = 864.761852; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:864.761852 # Seafloor depth:-904.761852 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 866.362228 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.778447; longitude = -117.503664; captureRadius = 10; duration = 54; initialDepth = 866.276064; finalDepth = 866.362228; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:866.362228 # Seafloor depth:-906.362228 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 866.276064 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.778042; longitude = -117.503183; captureRadius = 10; duration = 54; initialDepth = 866.592856; finalDepth = 866.276064; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:866.276064 # Seafloor depth:-906.276064 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 866.592856 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.777637; longitude = -117.502703; captureRadius = 10; duration = 54; initialDepth = 866.751325; finalDepth = 866.592856; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:866.592856 # Seafloor depth:-906.592856 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 866.751325 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.777231; longitude = -117.502223; captureRadius = 10; duration = 54; initialDepth = 867.238874; finalDepth = 866.751325; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:866.751325 # Seafloor depth:-906.751325 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 867.238874 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.776826; longitude = -117.501743; captureRadius = 10; duration = 54; initialDepth = 866.146162; finalDepth = 867.238874; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:867.238874 # Seafloor depth:-907.238874 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 866.146162 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.776421; longitude = -117.501263; captureRadius = 10; duration = 54; initialDepth = 859.568396; finalDepth = 866.146162; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:866.146162 # Seafloor depth:-906.146162 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 859.568396 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.776016; longitude = -117.500783; captureRadius = 10; duration = 54; initialDepth = 853.053991; finalDepth = 859.568396; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:859.568396 # Seafloor depth:-899.568396 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 853.053991 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.775611; longitude = -117.500302; captureRadius = 10; duration = 54; initialDepth = 841.138425; finalDepth = 853.053991; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:853.053991 # Seafloor depth:-893.053991 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 841.138425 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.775206; longitude = -117.499822; captureRadius = 10; duration = 54; initialDepth = 832.389178; finalDepth = 841.138425; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:841.138425 # Seafloor depth:-881.138425 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 832.389178 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.774801; longitude = -117.499342; captureRadius = 10; duration = 54; initialDepth = 826.586277; finalDepth = 832.389178; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:832.389178 # Seafloor depth:-872.389178 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 826.586277 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.774396; longitude = -117.498862; captureRadius = 10; duration = 54; initialDepth = 824.867439; finalDepth = 826.586277; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:826.586277 # Seafloor depth:-866.586277 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 824.867439 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.773991; longitude = -117.498382; captureRadius = 10; duration = 54; initialDepth = 824.573860; finalDepth = 824.867439; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:824.867439 # Seafloor depth:-864.867439 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 824.573860 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.773586; longitude = -117.497902; captureRadius = 10; duration = 54; initialDepth = 824.290460; finalDepth = 824.573860; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:824.57386 # Seafloor depth:-864.573860 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 824.290460 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.773181; longitude = -117.497421; captureRadius = 10; duration = 54; initialDepth = 823.750271; finalDepth = 824.290460; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:824.29046 # Seafloor depth:-864.290460 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 823.750271 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.772776; longitude = -117.496941; captureRadius = 10; duration = 54; initialDepth = 820.174750; finalDepth = 823.750271; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:823.750271 # Seafloor depth:-863.750271 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 820.174750 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.772371; longitude = -117.496461; captureRadius = 10; duration = 54; initialDepth = 816.360158; finalDepth = 820.174750; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:820.17475 # Seafloor depth:-860.174750 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 816.360158 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.771966; longitude = -117.495981; captureRadius = 10; duration = 54; initialDepth = 812.417358; finalDepth = 816.360158; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:816.360158 # Seafloor depth:-856.360158 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 812.417358 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.771561; longitude = -117.495501; captureRadius = 10; duration = 54; initialDepth = 809.959331; finalDepth = 812.417358; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:812.417358 # Seafloor depth:-852.417358 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 809.959331 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.771156; longitude = -117.495021; captureRadius = 10; duration = 54; initialDepth = 810.153087; finalDepth = 809.959331; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:809.959331 # Seafloor depth:-849.959331 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 810.153087 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.770751; longitude = -117.494540; captureRadius = 10; duration = 54; initialDepth = 811.780563; finalDepth = 810.153087; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:810.153087 # Seafloor depth:-850.153087 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 811.780563 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.770346; longitude = -117.494060; captureRadius = 10; duration = 54; initialDepth = 812.553516; finalDepth = 811.780563; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:811.780563 # Seafloor depth:-851.780563 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 812.553516 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.769941; longitude = -117.493580; captureRadius = 10; duration = 54; initialDepth = 813.110180; finalDepth = 812.553516; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:812.553516 # Seafloor depth:-852.553516 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 813.110180 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.769536; longitude = -117.493100; captureRadius = 10; duration = 54; initialDepth = 814.162841; finalDepth = 813.110180; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:813.11018 # Seafloor depth:-853.110180 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 814.162841 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.769131; longitude = -117.492620; captureRadius = 10; duration = 54; initialDepth = 810.876598; finalDepth = 814.162841; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:814.162841 # Seafloor depth:-854.162841 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 810.876598 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.768726; longitude = -117.492139; captureRadius = 10; duration = 54; initialDepth = 810.037611; finalDepth = 810.876598; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:810.876598 # Seafloor depth:-850.876598 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 810.037611 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.768321; longitude = -117.491659; captureRadius = 10; duration = 54; initialDepth = 805.453968; finalDepth = 810.037611; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:810.037611 # Seafloor depth:-850.037611 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 805.453968 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.767915; longitude = -117.491179; captureRadius = 10; duration = 54; initialDepth = 802.355393; finalDepth = 805.453968; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:805.453968 # Seafloor depth:-845.453968 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 802.355393 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.767509; longitude = -117.490697; captureRadius = 10; duration = 54; initialDepth = 802.931473; finalDepth = 802.355393; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:802.355393 # Seafloor depth:-842.355393 # behavior reson { duration = RESON_DURATION; 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 30 # Segment length 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 802.931473 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.767158; longitude = -117.490281; captureRadius = 10; duration = 54; # abortOnTimeout = True; initialDepth = 799.822040; finalDepth = 802.931473; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:802.931473 # Seafloor depth:-842.931473 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 803.859259; finalDepth = 799.822040; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:799.82204 # Seafloor depth:-839.822040 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 803.859259 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.766496; longitude = -117.490059; captureRadius = 10; duration = 54; initialDepth = 806.565124; finalDepth = 803.859259; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:803.859259 # Seafloor depth:-843.859259 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 806.565124 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.766018; longitude = -117.489899; captureRadius = 10; duration = 54; initialDepth = 807.823179; finalDepth = 806.565124; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:806.565124 # Seafloor depth:-846.565124 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 807.823179 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.765541; longitude = -117.489739; captureRadius = 10; duration = 54; initialDepth = 808.692596; finalDepth = 807.823179; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:807.823179 # Seafloor depth:-847.823179 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 808.692596 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.765064; longitude = -117.489579; captureRadius = 10; duration = 54; initialDepth = 807.542615; finalDepth = 808.692596; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:808.692596 # Seafloor depth:-848.692596 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 807.542615 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.764587; longitude = -117.489419; captureRadius = 10; duration = 54; initialDepth = 808.606138; finalDepth = 807.542615; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:807.542615 # Seafloor depth:-847.542615 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 808.606138 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.764110; longitude = -117.489258; captureRadius = 10; duration = 54; initialDepth = 807.829089; finalDepth = 808.606138; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:808.606138 # Seafloor depth:-848.606138 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 807.829089 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.763633; longitude = -117.489098; captureRadius = 10; duration = 54; initialDepth = 806.149422; finalDepth = 807.829089; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:807.829089 # Seafloor depth:-847.829089 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 806.149422 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.763156; longitude = -117.488938; captureRadius = 10; duration = 54; initialDepth = 804.959135; finalDepth = 806.149422; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:806.149422 # Seafloor depth:-846.149422 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 804.959135 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.762637; longitude = -117.488764; captureRadius = 10; duration = 54; initialDepth = 801.669061; finalDepth = 804.959135; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:804.959135 # Seafloor depth:-844.959135 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 801.669061 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.762201; longitude = -117.488618; captureRadius = 10; duration = 54; initialDepth = 796.789296; finalDepth = 801.669061; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:801.669061 # Seafloor depth:-841.669061 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 792.454705; finalDepth = 796.789296; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:796.789296 # Seafloor depth:-836.789296 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 787.935615; finalDepth = 792.454705; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:792.454705 # Seafloor depth:-832.454705 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 782.948233; finalDepth = 787.935615; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:787.935615 # Seafloor depth:-827.935615 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 781.708296; finalDepth = 782.948233; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:782.948233 # Seafloor depth:-822.948233 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 782.800929; finalDepth = 781.708296; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:781.708296 # Seafloor depth:-821.708296 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 785.024443; finalDepth = 782.800929; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:782.800929 # Seafloor depth:-822.800929 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 786.454010; finalDepth = 785.024443; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:785.024443 # Seafloor depth:-825.024443 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 787.020911; finalDepth = 786.454010; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:786.45401 # Seafloor depth:-826.454010 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 788.739593; finalDepth = 787.020911; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:787.020911 # Seafloor depth:-827.020911 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 790.776823; finalDepth = 788.739593; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:788.739593 # Seafloor depth:-828.739593 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 793.001073; finalDepth = 790.776823; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:790.776823 # Seafloor depth:-830.776823 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 795.745336; finalDepth = 793.001073; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:793.001073 # Seafloor depth:-833.001073 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 797.877072; finalDepth = 795.745336; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:795.745336 # Seafloor depth:-835.745336 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 799.760692; finalDepth = 797.877072; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:797.877072 # Seafloor depth:-837.877072 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 800.261505; finalDepth = 799.760692; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:799.760692 # Seafloor depth:-839.760692 # behavior reson { duration = RESON_DURATION; 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 29 # Segment length 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.261505 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.754232; longitude = -117.485945; captureRadius = 10; duration = 54; # abortOnTimeout = True; initialDepth = 808.273609; finalDepth = 800.261505; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:800.261505 # Seafloor depth:-840.261505 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 808.273609 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.754110; longitude = -117.485381; captureRadius = 10; duration = 54; initialDepth = 808.369917; finalDepth = 808.273609; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:808.273609 # Seafloor depth:-848.273609 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 808.369917 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.753975; longitude = -117.484754; captureRadius = 10; duration = 54; initialDepth = 808.272597; finalDepth = 808.369917; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:808.369917 # Seafloor depth:-848.369917 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 808.272597 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.753840; longitude = -117.484126; captureRadius = 10; duration = 54; initialDepth = 806.963377; finalDepth = 808.272597; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:808.272597 # Seafloor depth:-848.272597 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 806.963377 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.753704; longitude = -117.483496; captureRadius = 10; duration = 54; initialDepth = 806.069914; finalDepth = 806.963377; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:806.963377 # Seafloor depth:-846.963377 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 806.069914 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.753566; longitude = -117.482856; captureRadius = 10; duration = 54; initialDepth = 801.923534; finalDepth = 806.069914; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:806.069914 # Seafloor depth:-846.069914 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 801.923534 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.753428; longitude = -117.482216; captureRadius = 10; duration = 54; initialDepth = 802.136315; finalDepth = 801.923534; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:801.923534 # Seafloor depth:-841.923534 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 802.136315 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.753289; longitude = -117.481576; captureRadius = 10; duration = 54; initialDepth = 805.370728; finalDepth = 802.136315; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:802.136315 # Seafloor depth:-842.136315 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 805.370728 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.753151; longitude = -117.480936; captureRadius = 10; duration = 54; initialDepth = 805.806110; finalDepth = 805.370728; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:805.370728 # Seafloor depth:-845.370728 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 805.806110 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.753013; longitude = -117.480295; captureRadius = 10; duration = 54; initialDepth = 802.576719; finalDepth = 805.806110; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:805.80611 # Seafloor depth:-845.806110 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 802.576719 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.752875; longitude = -117.479655; captureRadius = 10; duration = 54; initialDepth = 787.675171; finalDepth = 802.576719; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:802.576719 # Seafloor depth:-842.576719 # behavior reson { duration = RESON_DURATION; 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 28 # Segment length 54.972675 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: 900.000000 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 = 54; # abortOnTimeout = True; initialDepth = 790.516645; finalDepth = 787.675171; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:787.675171 # Seafloor depth:-827.675171 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 797.761936; finalDepth = 790.516645; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:790.516645 # Seafloor depth:-830.516645 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 796.719333; finalDepth = 797.761936; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:797.761936 # Seafloor depth:-837.761936 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 795.564816; finalDepth = 796.719333; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:796.719333 # Seafloor depth:-836.719333 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 795.879680; finalDepth = 795.564816; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:795.564816 # Seafloor depth:-835.564816 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 793.458188; finalDepth = 795.879680; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:795.87968 # Seafloor depth:-835.879680 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 790.045897; finalDepth = 793.458188; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:793.458188 # Seafloor depth:-833.458188 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 782.114202; finalDepth = 790.045897; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:790.045897 # Seafloor depth:-830.045897 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 775.033714; finalDepth = 782.114202; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:782.114202 # Seafloor depth:-822.114202 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 772.631782; finalDepth = 775.033714; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:775.033714 # Seafloor depth:-815.033714 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 770.740144; finalDepth = 772.631782; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:772.631782 # Seafloor depth:-812.631782 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 768.443494; finalDepth = 770.740144; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:770.740144 # Seafloor depth:-810.740144 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 765.848060; finalDepth = 768.443494; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:768.443494 # Seafloor depth:-808.443494 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 763.863968; finalDepth = 765.848060; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:765.84806 # Seafloor depth:-805.848060 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 768.416564; finalDepth = 763.863968; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:763.863968 # Seafloor depth:-803.863968 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 778.689579; finalDepth = 768.416564; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:768.416564 # Seafloor depth:-808.416564 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 787.967415; finalDepth = 778.689579; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:778.689579 # Seafloor depth:-818.689579 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 794.119785; finalDepth = 787.967415; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:787.967415 # Seafloor depth:-827.967415 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 797.690650; finalDepth = 794.119785; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:794.119785 # Seafloor depth:-834.119785 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 799.934848; finalDepth = 797.690650; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:797.69065 # Seafloor depth:-837.690650 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 800.009339; finalDepth = 799.934848; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:799.934848 # Seafloor depth:-839.934848 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.009339 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.763314; longitude = -117.482232; captureRadius = 10; duration = 54; initialDepth = 805.015606; finalDepth = 800.009339; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:800.009339 # Seafloor depth:-840.009339 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 805.015606 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.763855; longitude = -117.482399; captureRadius = 10; duration = 54; initialDepth = 804.885684; finalDepth = 805.015606; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:805.015606 # Seafloor depth:-845.015606 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 804.885684 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.764302; longitude = -117.482536; captureRadius = 10; duration = 54; initialDepth = 806.219049; finalDepth = 804.885684; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:804.885684 # Seafloor depth:-844.885684 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 806.219049 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.764823; longitude = -117.482696; captureRadius = 10; duration = 54; initialDepth = 807.134696; finalDepth = 806.219049; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:806.219049 # Seafloor depth:-846.219049 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 807.134696 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.765344; longitude = -117.482856; captureRadius = 10; duration = 54; initialDepth = 808.409051; finalDepth = 807.134696; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:807.134696 # Seafloor depth:-847.134696 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 808.409051 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.765885; longitude = -117.483023; captureRadius = 10; duration = 54; initialDepth = 807.061638; finalDepth = 808.409051; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:808.409051 # Seafloor depth:-848.409051 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 807.061638 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.766426; longitude = -117.483189; captureRadius = 10; duration = 54; initialDepth = 799.591782; finalDepth = 807.061638; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:807.061638 # Seafloor depth:-847.061638 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 792.714857; finalDepth = 799.591782; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:799.591782 # Seafloor depth:-839.591782 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 787.614973; finalDepth = 792.714857; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:792.714857 # Seafloor depth:-832.714857 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 783.676830; finalDepth = 787.614973; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:787.614973 # Seafloor depth:-827.614973 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 778.408817; finalDepth = 783.676830; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:783.67683 # Seafloor depth:-823.676830 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 778.449880; finalDepth = 778.408817; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:778.408817 # Seafloor depth:-818.408817 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 778.684732; finalDepth = 778.449880; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:778.44988 # Seafloor depth:-818.449880 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 781.152069; finalDepth = 778.684732; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:778.684732 # Seafloor depth:-818.684732 # behavior reson { duration = RESON_DURATION; 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 54.972675 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: 900.000000 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 = 54; # abortOnTimeout = True; initialDepth = 786.919243; finalDepth = 781.152069; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:781.152069 # Seafloor depth:-821.152069 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 790.854373; finalDepth = 786.919243; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:786.919243 # Seafloor depth:-826.919243 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 793.920837; finalDepth = 790.854373; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:790.854373 # Seafloor depth:-830.854373 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 794.248877; finalDepth = 793.920837; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:793.920837 # Seafloor depth:-833.920837 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 792.896011; finalDepth = 794.248877; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:794.248877 # Seafloor depth:-834.248877 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 795.292602; finalDepth = 792.896011; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:792.896011 # Seafloor depth:-832.896011 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 801.960820; finalDepth = 795.292602; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:795.292602 # Seafloor depth:-835.292602 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 801.960820 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.773333; longitude = -117.487658; captureRadius = 10; duration = 54; initialDepth = 814.843454; finalDepth = 801.960820; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:801.96082 # Seafloor depth:-841.960820 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 814.843454 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.773735; longitude = -117.488149; captureRadius = 10; duration = 54; initialDepth = 830.483858; finalDepth = 814.843454; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:814.843454 # Seafloor depth:-854.843454 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 830.483858 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.774141; longitude = -117.488644; captureRadius = 10; duration = 54; initialDepth = 846.262269; finalDepth = 830.483858; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:830.483858 # Seafloor depth:-870.483858 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 846.262269 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.774547; longitude = -117.489140; captureRadius = 10; duration = 54; initialDepth = 855.847267; finalDepth = 846.262269; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:846.262269 # Seafloor depth:-886.262269 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 855.847267 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.774953; longitude = -117.489636; captureRadius = 10; duration = 54; initialDepth = 859.453289; finalDepth = 855.847267; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:855.847267 # Seafloor depth:-895.847267 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 859.453289 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.775299; longitude = -117.490059; captureRadius = 10; duration = 54; initialDepth = 859.994089; finalDepth = 859.453289; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:859.453289 # Seafloor depth:-899.453289 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 859.994089 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.775630; longitude = -117.490462; captureRadius = 10; duration = 54; initialDepth = 859.027416; finalDepth = 859.994089; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:859.994089 # Seafloor depth:-899.994089 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 859.027416 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.775955; longitude = -117.490859; captureRadius = 10; duration = 54; initialDepth = 858.012494; finalDepth = 859.027416; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:859.027416 # Seafloor depth:-899.027416 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 858.012494 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.776348; longitude = -117.491339; captureRadius = 10; duration = 54; initialDepth = 855.293571; finalDepth = 858.012494; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:858.012494 # Seafloor depth:-898.012494 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 855.293571 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.776742; longitude = -117.491819; captureRadius = 10; duration = 54; initialDepth = 848.385643; finalDepth = 855.293571; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:855.293571 # Seafloor depth:-895.293571 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 848.385643 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.777135; longitude = -117.492300; captureRadius = 10; duration = 54; initialDepth = 841.527777; finalDepth = 848.385643; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:848.385643 # Seafloor depth:-888.385643 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 841.527777 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.777528; longitude = -117.492780; captureRadius = 10; duration = 54; initialDepth = 835.381339; finalDepth = 841.527777; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:841.527777 # Seafloor depth:-881.527777 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 835.381339 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.777930; longitude = -117.493271; captureRadius = 10; duration = 54; initialDepth = 830.373891; finalDepth = 835.381339; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:835.381339 # Seafloor depth:-875.381339 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 830.373891 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.778336; longitude = -117.493767; captureRadius = 10; duration = 54; initialDepth = 827.727548; finalDepth = 830.373891; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:830.373891 # Seafloor depth:-870.373891 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 827.727548 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.778742; longitude = -117.494262; captureRadius = 10; duration = 54; initialDepth = 828.143204; finalDepth = 827.727548; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:827.727548 # Seafloor depth:-867.727548 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 828.143204 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.779149; longitude = -117.494758; captureRadius = 10; duration = 54; initialDepth = 832.399741; finalDepth = 828.143204; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:828.143204 # Seafloor depth:-868.143204 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 832.399741 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.779495; longitude = -117.495181; captureRadius = 10; duration = 54; initialDepth = 839.310140; finalDepth = 832.399741; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:832.399741 # Seafloor depth:-872.399741 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 839.310140 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.779825; longitude = -117.495584; captureRadius = 10; duration = 54; initialDepth = 848.993209; finalDepth = 839.310140; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:839.31014 # Seafloor depth:-879.310140 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 848.993209 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.780150; longitude = -117.495981; captureRadius = 10; duration = 54; initialDepth = 859.471982; finalDepth = 848.993209; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:848.993209 # Seafloor depth:-888.993209 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 859.471982 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.780544; longitude = -117.496461; captureRadius = 10; duration = 54; initialDepth = 868.860684; finalDepth = 859.471982; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:859.471982 # Seafloor depth:-899.471982 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 868.860684 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.780937; longitude = -117.496941; captureRadius = 10; duration = 54; initialDepth = 872.196459; finalDepth = 868.860684; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:868.860684 # Seafloor depth:-908.860684 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 872.196459 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.781330; longitude = -117.497421; captureRadius = 10; duration = 54; initialDepth = 872.391547; finalDepth = 872.196459; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:872.196459 # Seafloor depth:-912.196459 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 872.391547 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.781723; longitude = -117.497902; captureRadius = 10; duration = 54; initialDepth = 872.311160; finalDepth = 872.391547; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:872.391547 # Seafloor depth:-912.391547 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 872.311160 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.782126; longitude = -117.498393; captureRadius = 10; duration = 54; initialDepth = 871.797273; finalDepth = 872.311160; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:872.31116 # Seafloor depth:-912.311160 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 871.797273 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.782532; longitude = -117.498889; captureRadius = 10; duration = 54; initialDepth = 872.116681; finalDepth = 871.797273; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:871.797273 # Seafloor depth:-911.797273 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 872.116681 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.782938; longitude = -117.499384; captureRadius = 10; duration = 54; initialDepth = 871.111611; finalDepth = 872.116681; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:872.116681 # Seafloor depth:-912.116681 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 871.111611 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.783344; longitude = -117.499880; captureRadius = 10; duration = 54; initialDepth = 869.149678; finalDepth = 871.111611; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:871.111611 # Seafloor depth:-911.111611 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 869.149678 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.783690; longitude = -117.500302; captureRadius = 10; duration = 54; initialDepth = 863.865773; finalDepth = 869.149678; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:869.149678 # Seafloor depth:-909.149678 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 863.865773 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.784021; longitude = -117.500706; captureRadius = 10; duration = 54; initialDepth = 857.123853; finalDepth = 863.865773; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:863.865773 # Seafloor depth:-903.865773 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 857.123853 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.784346; longitude = -117.501103; captureRadius = 10; duration = 54; initialDepth = 851.250843; finalDepth = 857.123853; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:857.123853 # Seafloor depth:-897.123853 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 851.250843 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.784739; longitude = -117.501583; captureRadius = 10; duration = 54; initialDepth = 849.381293; finalDepth = 851.250843; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:851.250843 # Seafloor depth:-891.250843 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 849.381293 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.785132; longitude = -117.502063; captureRadius = 10; duration = 54; initialDepth = 846.818144; finalDepth = 849.381293; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:849.381293 # Seafloor depth:-889.381293 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 846.818144 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.785525; longitude = -117.502543; captureRadius = 10; duration = 54; initialDepth = 848.905662; finalDepth = 846.818144; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:846.818144 # Seafloor depth:-886.818144 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 848.905662 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.785919; longitude = -117.503023; captureRadius = 10; duration = 54; initialDepth = 850.437908; finalDepth = 848.905662; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:848.905662 # Seafloor depth:-888.905662 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 850.437908 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.786322; longitude = -117.503515; captureRadius = 10; duration = 54; initialDepth = 856.932458; finalDepth = 850.437908; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:850.437908 # Seafloor depth:-890.437908 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 856.932458 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.786728; longitude = -117.504011; captureRadius = 10; duration = 54; initialDepth = 860.563179; finalDepth = 856.932458; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:856.932458 # Seafloor depth:-896.932458 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 860.563179 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.787134; longitude = -117.504507; captureRadius = 10; duration = 54; initialDepth = 867.098023; finalDepth = 860.563179; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:860.563179 # Seafloor depth:-900.563179 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 867.098023 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.787492; longitude = -117.504944; captureRadius = 10; duration = 54; initialDepth = 865.738914; finalDepth = 867.098023; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:867.098023 # Seafloor depth:-907.098023 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 865.738914 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.787810; longitude = -117.505333; captureRadius = 10; duration = 54; initialDepth = 865.982041; finalDepth = 865.738914; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:865.738914 # Seafloor depth:-905.738914 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 865.982041 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.788148; longitude = -117.505744; captureRadius = 10; duration = 54; initialDepth = 868.467951; finalDepth = 865.982041; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:865.982041 # Seafloor depth:-905.982041 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 868.467951 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.788487; longitude = -117.506159; captureRadius = 10; duration = 54; initialDepth = 868.338173; finalDepth = 868.467951; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:868.467951 # Seafloor depth:-908.467951 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 868.338173 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.788803; longitude = -117.506545; captureRadius = 10; duration = 54; initialDepth = 869.590478; finalDepth = 868.338173; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:868.338173 # Seafloor depth:-908.338173 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 869.590478 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.789196; longitude = -117.507025; captureRadius = 10; duration = 54; initialDepth = 869.564748; finalDepth = 869.590478; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:869.590478 # Seafloor depth:-909.590478 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 869.564748 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.789590; longitude = -117.507505; captureRadius = 10; duration = 54; initialDepth = 866.931461; finalDepth = 869.564748; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:869.564748 # Seafloor depth:-909.564748 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 866.931461 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.789983; longitude = -117.507985; captureRadius = 10; duration = 54; initialDepth = 869.029949; finalDepth = 866.931461; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:866.931461 # Seafloor depth:-906.931461 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 869.029949 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.790382; longitude = -117.508472; captureRadius = 10; duration = 54; initialDepth = 866.204208; finalDepth = 869.029949; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:869.029949 # Seafloor depth:-909.029949 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 866.204208 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.790788; longitude = -117.508968; captureRadius = 10; duration = 54; initialDepth = 868.915126; finalDepth = 866.204208; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:866.204208 # Seafloor depth:-906.204208 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 868.915126 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.791194; longitude = -117.509463; captureRadius = 10; duration = 54; initialDepth = 867.764644; finalDepth = 868.915126; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:868.915126 # Seafloor depth:-908.915126 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 867.764644 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.791556; longitude = -117.509906; captureRadius = 10; duration = 54; initialDepth = 866.498141; finalDepth = 867.764644; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:867.764644 # Seafloor depth:-907.764644 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 866.498141 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.791871; longitude = -117.510290; captureRadius = 10; duration = 54; initialDepth = 865.567702; finalDepth = 866.498141; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:866.498141 # Seafloor depth:-906.498141 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 865.567702 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.792212; longitude = -117.510706; captureRadius = 10; duration = 54; initialDepth = 864.964633; finalDepth = 865.567702; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:865.567702 # Seafloor depth:-905.567702 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 864.964633 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.792547; longitude = -117.511116; captureRadius = 10; duration = 54; initialDepth = 866.207545; finalDepth = 864.964633; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:864.964633 # Seafloor depth:-904.964633 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 866.207545 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.792867; longitude = -117.511506; captureRadius = 10; duration = 54; initialDepth = 865.816836; finalDepth = 866.207545; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:866.207545 # Seafloor depth:-906.207545 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 865.816836 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.793261; longitude = -117.511986; captureRadius = 10; duration = 54; initialDepth = 865.147011; finalDepth = 865.816836; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:865.816836 # Seafloor depth:-905.816836 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 865.147011 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.793654; longitude = -117.512467; captureRadius = 10; duration = 54; initialDepth = 866.129528; finalDepth = 865.147011; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:865.147011 # Seafloor depth:-905.147011 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 866.129528 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.794047; longitude = -117.512947; captureRadius = 10; duration = 54; initialDepth = 865.568731; finalDepth = 866.129528; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:866.129528 # Seafloor depth:-906.129528 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 865.568731 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.794442; longitude = -117.513429; captureRadius = 10; duration = 54; initialDepth = 866.893707; finalDepth = 865.568731; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:865.568731 # Seafloor depth:-905.568731 # behavior reson { duration = RESON_DURATION; 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 26 # Segment length 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 866.893707 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.794814; longitude = -117.513883; captureRadius = 10; duration = 54; # abortOnTimeout = True; initialDepth = 867.020035; finalDepth = 866.893707; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:866.893707 # Seafloor depth:-906.893707 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 867.020035 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.794794; longitude = -117.513907; captureRadius = 10; duration = 54; initialDepth = 867.978723; finalDepth = 867.020035; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:867.020035 # Seafloor depth:-907.020035 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 867.978723 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.794442; longitude = -117.514323; captureRadius = 10; duration = 54; initialDepth = 868.622921; finalDepth = 867.978723; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:867.978723 # Seafloor depth:-907.978723 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 868.622921 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.794116; longitude = -117.514707; captureRadius = 10; duration = 54; initialDepth = 871.219190; finalDepth = 868.622921; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:868.622921 # Seafloor depth:-908.622921 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 871.219190 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.793765; longitude = -117.515122; captureRadius = 10; duration = 54; initialDepth = 872.175062; finalDepth = 871.219190; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:871.21919 # Seafloor depth:-911.219190 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 872.175062 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.793439; longitude = -117.515508; captureRadius = 10; duration = 54; initialDepth = 872.331332; finalDepth = 872.175062; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:872.175062 # Seafloor depth:-912.175062 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 872.331332 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.793089; longitude = -117.515922; captureRadius = 10; duration = 54; initialDepth = 872.311314; finalDepth = 872.331332; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:872.331332 # Seafloor depth:-912.331332 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 872.311314 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.792762; longitude = -117.516308; captureRadius = 10; duration = 54; initialDepth = 867.711098; finalDepth = 872.311314; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:872.311314 # Seafloor depth:-912.311314 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 867.711098 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.792412; longitude = -117.516722; captureRadius = 10; duration = 54; initialDepth = 867.900823; finalDepth = 867.711098; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:867.711098 # Seafloor depth:-907.711098 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 867.900823 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.792085; longitude = -117.517108; captureRadius = 10; duration = 54; initialDepth = 872.215652; finalDepth = 867.900823; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # 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:867.900823 # Seafloor depth:-907.900823 # behavior reson { duration = RESON_DURATION; 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 25 # Segment length 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 872.215652 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.791747; longitude = -117.517508; captureRadius = 10; duration = 54; # abortOnTimeout = True; initialDepth = 872.266499; finalDepth = 872.215652; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:872.215652 # Seafloor depth:-912.215652 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 872.266499 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.791735; longitude = -117.517494; captureRadius = 10; duration = 54; initialDepth = 872.020759; finalDepth = 872.266499; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:872.266499 # Seafloor depth:-912.266499 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 872.020759 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.791421; longitude = -117.517108; captureRadius = 10; duration = 54; initialDepth = 872.544984; finalDepth = 872.020759; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:872.020759 # Seafloor depth:-912.020759 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 872.544984 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.791030; longitude = -117.516628; captureRadius = 10; duration = 54; initialDepth = 872.316934; finalDepth = 872.544984; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:872.544984 # Seafloor depth:-912.544984 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 872.316934 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.790639; longitude = -117.516148; captureRadius = 10; duration = 54; initialDepth = 869.839926; finalDepth = 872.316934; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:872.316934 # Seafloor depth:-912.316934 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 869.839926 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.790247; longitude = -117.515666; captureRadius = 10; duration = 54; initialDepth = 872.004314; finalDepth = 869.839926; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:869.839926 # Seafloor depth:-909.839926 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 872.004314 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.789840; longitude = -117.515167; captureRadius = 10; duration = 54; initialDepth = 872.063240; finalDepth = 872.004314; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:872.004314 # Seafloor depth:-912.004314 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 872.063240 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.789434; longitude = -117.514668; captureRadius = 10; duration = 54; initialDepth = 871.000877; finalDepth = 872.063240; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:872.06324 # Seafloor depth:-912.063240 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 871.000877 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.789028; longitude = -117.514170; captureRadius = 10; duration = 54; initialDepth = 870.469884; finalDepth = 871.000877; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:871.000877 # Seafloor depth:-911.000877 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 870.469884 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.788684; longitude = -117.513747; captureRadius = 10; duration = 54; initialDepth = 870.057561; finalDepth = 870.469884; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:870.469884 # Seafloor depth:-910.469884 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 870.057561 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.788352; longitude = -117.513339; captureRadius = 10; duration = 54; initialDepth = 869.888313; finalDepth = 870.057561; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:870.057561 # Seafloor depth:-910.057561 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 869.888313 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.788032; longitude = -117.512947; captureRadius = 10; duration = 54; initialDepth = 869.815857; finalDepth = 869.888313; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:869.888313 # Seafloor depth:-909.888313 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 869.815857 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.787641; longitude = -117.512467; captureRadius = 10; duration = 54; initialDepth = 869.039458; finalDepth = 869.815857; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:869.815857 # Seafloor depth:-909.815857 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 869.039458 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.787250; longitude = -117.511986; captureRadius = 10; duration = 54; initialDepth = 870.592516; finalDepth = 869.039458; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:869.039458 # Seafloor depth:-909.039458 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 870.592516 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.786859; longitude = -117.511506; captureRadius = 10; duration = 54; initialDepth = 869.521105; finalDepth = 870.592516; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:870.592516 # Seafloor depth:-910.592516 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 869.521105 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.786457; longitude = -117.511012; captureRadius = 10; duration = 54; initialDepth = 870.261095; finalDepth = 869.521105; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:869.521105 # Seafloor depth:-909.521105 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 870.261095 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.786051; longitude = -117.510514; captureRadius = 10; duration = 54; initialDepth = 870.924699; finalDepth = 870.261095; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:870.261095 # Seafloor depth:-910.261095 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 870.924699 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.785645; longitude = -117.510015; captureRadius = 10; duration = 54; initialDepth = 870.673461; finalDepth = 870.924699; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:870.924699 # Seafloor depth:-910.924699 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 870.673461 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.785295; longitude = -117.509586; captureRadius = 10; duration = 54; initialDepth = 871.228830; finalDepth = 870.673461; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:870.673461 # Seafloor depth:-910.673461 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 871.228830 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.784968; longitude = -117.509184; captureRadius = 10; duration = 54; initialDepth = 871.255251; finalDepth = 871.228830; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:871.22883 # Seafloor depth:-911.228830 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 871.255251 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.784643; longitude = -117.508785; captureRadius = 10; duration = 54; initialDepth = 870.362185; finalDepth = 871.255251; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:871.255251 # Seafloor depth:-911.255251 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 870.362185 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.784252; longitude = -117.508305; captureRadius = 10; duration = 54; initialDepth = 871.044903; finalDepth = 870.362185; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:870.362185 # Seafloor depth:-910.362185 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 871.044903 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.783861; longitude = -117.507825; captureRadius = 10; duration = 54; initialDepth = 871.721075; finalDepth = 871.044903; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:871.044903 # Seafloor depth:-911.044903 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 871.721075 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.783470; longitude = -117.507345; captureRadius = 10; duration = 54; initialDepth = 871.590573; finalDepth = 871.721075; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:871.721075 # Seafloor depth:-911.721075 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 871.590573 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.783073; longitude = -117.506858; captureRadius = 10; duration = 54; initialDepth = 870.663148; finalDepth = 871.590573; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:871.590573 # Seafloor depth:-911.590573 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 870.663148 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.782667; longitude = -117.506359; captureRadius = 10; duration = 54; initialDepth = 870.008687; finalDepth = 870.663148; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:870.663148 # Seafloor depth:-910.663148 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 870.008687 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.782261; longitude = -117.505860; captureRadius = 10; duration = 54; initialDepth = 869.177596; finalDepth = 870.008687; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:870.008687 # Seafloor depth:-910.008687 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 869.177596 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.781855; longitude = -117.505362; captureRadius = 10; duration = 54; initialDepth = 869.884608; finalDepth = 869.177596; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:869.177596 # Seafloor depth:-909.177596 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 869.884608 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.781515; longitude = -117.504944; captureRadius = 10; duration = 54; initialDepth = 868.849110; finalDepth = 869.884608; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:869.884608 # Seafloor depth:-909.884608 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 868.849110 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.781179; longitude = -117.504531; captureRadius = 10; duration = 54; initialDepth = 869.978477; finalDepth = 868.849110; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:868.84911 # Seafloor depth:-908.849110 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 869.978477 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.780863; longitude = -117.504144; captureRadius = 10; duration = 54; initialDepth = 869.800931; finalDepth = 869.978477; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:869.978477 # Seafloor depth:-909.978477 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 869.800931 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.780472; longitude = -117.503664; captureRadius = 10; duration = 54; initialDepth = 871.783263; finalDepth = 869.800931; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:869.800931 # Seafloor depth:-909.800931 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 871.783263 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.780081; longitude = -117.503183; captureRadius = 10; duration = 54; initialDepth = 870.811572; finalDepth = 871.783263; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:871.783263 # Seafloor depth:-911.783263 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 870.811572 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.779690; longitude = -117.502703; captureRadius = 10; duration = 54; initialDepth = 869.677146; finalDepth = 870.811572; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:870.811572 # Seafloor depth:-910.811572 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 869.677146 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.779284; longitude = -117.502204; captureRadius = 10; duration = 54; initialDepth = 870.446904; finalDepth = 869.677146; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:869.677146 # Seafloor depth:-909.677146 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 870.446904 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.778878; longitude = -117.501706; captureRadius = 10; duration = 54; initialDepth = 869.934786; finalDepth = 870.446904; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:870.446904 # Seafloor depth:-910.446904 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 869.934786 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.778472; longitude = -117.501207; captureRadius = 10; duration = 54; initialDepth = 869.038924; finalDepth = 869.934786; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:869.934786 # Seafloor depth:-909.934786 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 869.038924 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.778126; longitude = -117.500783; captureRadius = 10; duration = 54; initialDepth = 869.281185; finalDepth = 869.038924; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:869.038924 # Seafloor depth:-909.038924 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 869.281185 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.777795; longitude = -117.500376; captureRadius = 10; duration = 54; initialDepth = 867.267024; finalDepth = 869.281185; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:869.281185 # Seafloor depth:-909.281185 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 867.267024 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.777474; longitude = -117.499982; captureRadius = 10; duration = 54; initialDepth = 867.940129; finalDepth = 867.267024; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:867.267024 # Seafloor depth:-907.267024 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 867.940129 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.777083; longitude = -117.499502; captureRadius = 10; duration = 54; initialDepth = 873.773116; finalDepth = 867.940129; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:867.940129 # Seafloor depth:-907.940129 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 873.773116 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.776692; longitude = -117.499022; captureRadius = 10; duration = 54; initialDepth = 874.767124; finalDepth = 873.773116; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:873.773116 # Seafloor depth:-913.773116 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 874.767124 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.776301; longitude = -117.498542; captureRadius = 10; duration = 54; initialDepth = 853.530794; finalDepth = 874.767124; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:874.767124 # Seafloor depth:-914.767124 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 853.530794 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.775900; longitude = -117.498050; captureRadius = 10; duration = 54; initialDepth = 842.169228; finalDepth = 853.530794; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:853.530794 # Seafloor depth:-893.530794 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 842.169228 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.775494; longitude = -117.497551; captureRadius = 10; duration = 54; initialDepth = 834.996713; finalDepth = 842.169228; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:842.169228 # Seafloor depth:-882.169228 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 834.996713 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.775088; longitude = -117.497052; captureRadius = 10; duration = 54; initialDepth = 838.637605; finalDepth = 834.996713; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:834.996713 # Seafloor depth:-874.996713 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 838.637605 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.774737; longitude = -117.496621; captureRadius = 10; duration = 54; initialDepth = 843.410175; finalDepth = 838.637605; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:838.637605 # Seafloor depth:-878.637605 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 843.410175 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.774412; longitude = -117.496221; captureRadius = 10; duration = 54; initialDepth = 848.106233; finalDepth = 843.410175; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:843.410175 # Seafloor depth:-883.410175 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 848.106233 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.774085; longitude = -117.495821; captureRadius = 10; duration = 54; initialDepth = 853.448065; finalDepth = 848.106233; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:848.106233 # Seafloor depth:-888.106233 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 853.448065 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.773694; longitude = -117.495341; captureRadius = 10; duration = 54; initialDepth = 857.153111; finalDepth = 853.448065; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:853.448065 # Seafloor depth:-893.448065 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 857.153111 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.773303; longitude = -117.494860; captureRadius = 10; duration = 54; initialDepth = 860.050622; finalDepth = 857.153111; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:857.153111 # Seafloor depth:-897.153111 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 860.050622 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.772912; longitude = -117.494380; captureRadius = 10; duration = 54; initialDepth = 858.921594; finalDepth = 860.050622; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:860.050622 # Seafloor depth:-900.050622 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 858.921594 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.772517; longitude = -117.493895; captureRadius = 10; duration = 54; initialDepth = 858.504794; finalDepth = 858.921594; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:858.921594 # Seafloor depth:-898.921594 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 858.504794 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.772111; longitude = -117.493396; captureRadius = 10; duration = 54; initialDepth = 855.834334; finalDepth = 858.504794; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:858.504794 # Seafloor depth:-898.504794 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 855.834334 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.771705; longitude = -117.492898; captureRadius = 10; duration = 54; initialDepth = 850.083027; finalDepth = 855.834334; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:855.834334 # Seafloor depth:-895.834334 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 850.083027 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.771299; longitude = -117.492399; captureRadius = 10; duration = 54; initialDepth = 841.890633; finalDepth = 850.083027; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:850.083027 # Seafloor depth:-890.083027 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 841.890633 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.770957; longitude = -117.491979; captureRadius = 10; duration = 54; initialDepth = 833.768881; finalDepth = 841.890633; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:841.890633 # Seafloor depth:-881.890633 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 833.768881 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.770622; longitude = -117.491568; captureRadius = 10; duration = 54; initialDepth = 827.307399; finalDepth = 833.768881; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:833.768881 # Seafloor depth:-873.768881 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 827.307399 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.770305; longitude = -117.491179; captureRadius = 10; duration = 54; initialDepth = 821.210751; finalDepth = 827.307399; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:827.307399 # Seafloor depth:-867.307399 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 821.210751 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.769914; longitude = -117.490699; captureRadius = 10; duration = 54; initialDepth = 819.493728; finalDepth = 821.210751; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:821.210751 # Seafloor depth:-861.210751 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 819.493728 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.769523; longitude = -117.490219; captureRadius = 10; duration = 54; initialDepth = 817.300151; finalDepth = 819.493728; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:819.493728 # Seafloor depth:-859.493728 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 817.300151 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.769132; longitude = -117.489739; captureRadius = 10; duration = 54; initialDepth = 810.448651; finalDepth = 817.300151; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:817.300151 # Seafloor depth:-857.300151 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 810.448651 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.768727; longitude = -117.489242; captureRadius = 10; duration = 54; initialDepth = 801.625076; finalDepth = 810.448651; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:810.448651 # Seafloor depth:-850.448651 # behavior reson { duration = RESON_DURATION; 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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 801.625076 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.768300; longitude = -117.488717; captureRadius = 10; duration = 54; # abortOnTimeout = True; initialDepth = 800.954244; finalDepth = 801.625076; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:801.625076 # Seafloor depth:-841.625076 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.954244 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.768186; longitude = -117.488685; captureRadius = 10; duration = 54; initialDepth = 801.738118; finalDepth = 800.954244; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:800.954244 # Seafloor depth:-840.954244 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 801.738118 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.767644; longitude = -117.488533; captureRadius = 10; duration = 54; initialDepth = 813.241528; finalDepth = 801.738118; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:801.738118 # Seafloor depth:-841.738118 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 813.241528 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.767103; longitude = -117.488381; captureRadius = 10; duration = 54; initialDepth = 805.681210; finalDepth = 813.241528; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:813.241528 # Seafloor depth:-853.241528 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 805.681210 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.766562; longitude = -117.488229; captureRadius = 10; duration = 54; initialDepth = 812.790545; finalDepth = 805.681210; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:805.68121 # Seafloor depth:-845.681210 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 812.790545 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.766020; longitude = -117.488077; captureRadius = 10; duration = 54; initialDepth = 807.246263; finalDepth = 812.790545; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:812.790545 # Seafloor depth:-852.790545 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 807.246263 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.765479; longitude = -117.487924; captureRadius = 10; duration = 54; initialDepth = 808.722169; finalDepth = 807.246263; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:807.246263 # Seafloor depth:-847.246263 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 808.722169 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.764938; longitude = -117.487772; captureRadius = 10; duration = 54; initialDepth = 808.190881; finalDepth = 808.722169; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:808.722169 # Seafloor depth:-848.722169 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 808.190881 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.764396; longitude = -117.487620; captureRadius = 10; duration = 54; initialDepth = 809.144878; finalDepth = 808.190881; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:808.190881 # Seafloor depth:-848.190881 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 809.144878 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.763855; longitude = -117.487468; captureRadius = 10; duration = 54; initialDepth = 806.837815; finalDepth = 809.144878; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:809.144878 # Seafloor depth:-849.144878 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 806.837815 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.763314; longitude = -117.487316; captureRadius = 10; duration = 54; initialDepth = 807.332597; finalDepth = 806.837815; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:806.837815 # Seafloor depth:-846.837815 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 807.332597 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.762821; longitude = -117.487178; captureRadius = 10; duration = 54; initialDepth = 807.821741; finalDepth = 807.332597; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:807.332597 # Seafloor depth:-847.332597 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 807.821741 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.762366; longitude = -117.487050; captureRadius = 10; duration = 54; initialDepth = 815.018588; finalDepth = 807.821741; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:807.821741 # Seafloor depth:-847.821741 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 815.018588 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.761825; longitude = -117.486898; captureRadius = 10; duration = 54; initialDepth = 814.388700; finalDepth = 815.018588; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:815.018588 # Seafloor depth:-855.018588 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 814.388700 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.761283; longitude = -117.486746; captureRadius = 10; duration = 54; initialDepth = 795.320317; finalDepth = 814.388700; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:814.3887 # Seafloor depth:-854.388700 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 797.577514; finalDepth = 795.320317; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:795.320317 # Seafloor depth:-835.320317 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 792.123463; finalDepth = 797.577514; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:797.577514 # Seafloor depth:-837.577514 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 794.921534; finalDepth = 792.123463; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:792.123463 # Seafloor depth:-832.123463 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 794.915972; finalDepth = 794.921534; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:794.921534 # Seafloor depth:-834.921534 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 796.093717; finalDepth = 794.915972; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:794.915972 # Seafloor depth:-834.915972 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 797.573433; finalDepth = 796.093717; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:796.093717 # Seafloor depth:-836.093717 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 799.987119; finalDepth = 797.573433; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:797.573433 # Seafloor depth:-837.573433 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 803.597772; finalDepth = 799.987119; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:799.987119 # Seafloor depth:-839.987119 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 803.597772 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.756411; longitude = -117.485377; captureRadius = 10; duration = 54; initialDepth = 807.272854; finalDepth = 803.597772; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:803.597772 # Seafloor depth:-843.597772 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 807.272854 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.755870; longitude = -117.485225; captureRadius = 10; duration = 54; initialDepth = 807.500889; finalDepth = 807.272854; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:807.272854 # Seafloor depth:-847.272854 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 807.500889 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.755328; longitude = -117.485073; captureRadius = 10; duration = 54; initialDepth = 808.162585; finalDepth = 807.500889; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:807.500889 # Seafloor depth:-847.500889 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 808.162585 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.754845; longitude = -117.484937; captureRadius = 10; duration = 54; initialDepth = 808.431568; finalDepth = 808.162585; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:808.162585 # Seafloor depth:-848.162585 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 808.431568 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.754381; longitude = -117.484807; captureRadius = 10; duration = 54; initialDepth = 808.361384; finalDepth = 808.431568; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:808.431568 # Seafloor depth:-848.431568 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 808.361384 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.753840; longitude = -117.484654; captureRadius = 10; duration = 54; initialDepth = 808.228922; finalDepth = 808.361384; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:808.361384 # Seafloor depth:-848.361384 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 808.228922 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.753298; longitude = -117.484502; captureRadius = 10; duration = 54; initialDepth = 807.447109; finalDepth = 808.228922; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:808.228922 # Seafloor depth:-848.228922 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 807.447109 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.752757; longitude = -117.484350; captureRadius = 10; duration = 54; initialDepth = 799.018795; finalDepth = 807.447109; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:807.447109 # Seafloor depth:-847.447109 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 799.580748; finalDepth = 799.018795; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:799.018795 # Seafloor depth:-839.018795 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 802.028613; finalDepth = 799.580748; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:799.580748 # Seafloor depth:-839.580748 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 802.028613 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.751133; longitude = -117.483894; captureRadius = 10; duration = 54; initialDepth = 798.981842; finalDepth = 802.028613; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:802.028613 # Seafloor depth:-842.028613 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 794.111710; finalDepth = 798.981842; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:798.981842 # Seafloor depth:-838.981842 # behavior reson { duration = RESON_DURATION; 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 54.972675 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: 900.000000 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 = 54; # abortOnTimeout = True; initialDepth = 777.279113; finalDepth = 794.111710; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:794.11171 # Seafloor depth:-834.111710 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 762.733362; finalDepth = 777.279113; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:777.279113 # Seafloor depth:-817.279113 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 755.631904; finalDepth = 762.733362; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:762.733362 # Seafloor depth:-802.733362 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 748.193596; finalDepth = 755.631904; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:755.631904 # Seafloor depth:-795.631904 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 742.489764; finalDepth = 748.193596; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:748.193596 # Seafloor depth:-788.193596 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 738.189259; finalDepth = 742.489764; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:742.489764 # Seafloor depth:-782.489764 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 731.963835; finalDepth = 738.189259; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:738.189259 # Seafloor depth:-778.189259 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 726.453467; finalDepth = 731.963835; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:731.963835 # Seafloor depth:-771.963835 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 717.578400; finalDepth = 726.453467; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:726.453467 # Seafloor depth:-766.453467 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 713.421806; finalDepth = 717.578400; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:717.5784 # Seafloor depth:-757.578400 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 706.984866; finalDepth = 713.421806; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:713.421806 # Seafloor depth:-753.421806 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 705.260073; finalDepth = 706.984866; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:706.984866 # Seafloor depth:-746.984866 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 708.181205; finalDepth = 705.260073; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:705.260073 # Seafloor depth:-745.260073 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 710.567577; finalDepth = 708.181205; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:708.181205 # Seafloor depth:-748.181205 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 712.438730; finalDepth = 710.567577; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:710.567577 # Seafloor depth:-750.567577 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 712.553946; finalDepth = 712.438730; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:712.43873 # Seafloor depth:-752.438730 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 711.620597; finalDepth = 712.553946; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:712.553946 # Seafloor depth:-752.553946 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 709.436819; finalDepth = 711.620597; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:711.620597 # Seafloor depth:-751.620597 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 706.955994; finalDepth = 709.436819; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:709.436819 # Seafloor depth:-749.436819 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 704.568052; finalDepth = 706.955994; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:706.955994 # Seafloor depth:-746.955994 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 702.884697; finalDepth = 704.568052; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:704.568052 # Seafloor depth:-744.568052 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 700.117931; finalDepth = 702.884697; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:702.884697 # Seafloor depth:-742.884697 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 697.850847; finalDepth = 700.117931; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:700.117931 # Seafloor depth:-740.117931 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 693.102512; finalDepth = 697.850847; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:697.850847 # Seafloor depth:-737.850847 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 688.500738; finalDepth = 693.102512; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:693.102512 # Seafloor depth:-733.102512 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 688.596983; finalDepth = 688.500738; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:688.500738 # Seafloor depth:-728.500738 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 688.856547; finalDepth = 688.596983; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:688.596983 # Seafloor depth:-728.596983 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 690.750302; finalDepth = 688.856547; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:688.856547 # Seafloor depth:-728.856547 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 693.292626; finalDepth = 690.750302; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:690.750302 # Seafloor depth:-730.750302 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 695.964095; finalDepth = 693.292626; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:693.292626 # Seafloor depth:-733.292626 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 697.966602; finalDepth = 695.964095; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:695.964095 # Seafloor depth:-735.964095 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 700.777529; finalDepth = 697.966602; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:697.966602 # Seafloor depth:-737.966602 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 702.470820; finalDepth = 700.777529; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:700.777529 # Seafloor depth:-740.777529 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 704.562346; finalDepth = 702.470820; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:702.47082 # Seafloor depth:-742.470820 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 707.519302; finalDepth = 704.562346; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:704.562346 # Seafloor depth:-744.562346 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 710.580149; finalDepth = 707.519302; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:707.519302 # Seafloor depth:-747.519302 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 711.009624; finalDepth = 710.580149; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:710.580149 # Seafloor depth:-750.580149 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 710.978133; finalDepth = 711.009624; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:711.009624 # Seafloor depth:-751.009624 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 711.033443; finalDepth = 710.978133; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:710.978133 # Seafloor depth:-750.978133 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 711.961216; finalDepth = 711.033443; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:711.033443 # Seafloor depth:-751.033443 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 710.789076; finalDepth = 711.961216; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:711.961216 # Seafloor depth:-751.961216 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 708.325383; finalDepth = 710.789076; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:710.789076 # Seafloor depth:-750.789076 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 701.411194; finalDepth = 708.325383; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:708.325383 # Seafloor depth:-748.325383 # behavior reson { duration = RESON_DURATION; 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 54.972675 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: 900.000000 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 = 54; # abortOnTimeout = True; initialDepth = 700.563958; finalDepth = 701.411194; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:701.411194 # Seafloor depth:-741.411194 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 695.962958; finalDepth = 700.563958; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:700.563958 # Seafloor depth:-740.563958 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 696.072573; finalDepth = 695.962958; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:695.962958 # Seafloor depth:-735.962958 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 699.046297; finalDepth = 696.072573; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:696.072573 # Seafloor depth:-736.072573 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 712.499283; finalDepth = 699.046297; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:699.046297 # Seafloor depth:-739.046297 # behavior reson { duration = RESON_DURATION; 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 54.972675 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: 900.000000 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 = 54; # abortOnTimeout = True; initialDepth = 713.650671; finalDepth = 712.499283; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:712.499283 # Seafloor depth:-752.499283 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 718.007791; finalDepth = 713.650671; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:713.650671 # Seafloor depth:-753.650671 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 717.239926; finalDepth = 718.007791; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:718.007791 # Seafloor depth:-758.007791 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 712.562675; finalDepth = 717.239926; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:717.239926 # Seafloor depth:-757.239926 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 691.337423; finalDepth = 712.562675; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:712.562675 # Seafloor depth:-752.562675 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 662.354658; finalDepth = 691.337423; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:691.337423 # Seafloor depth:-731.337423 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 649.497665; finalDepth = 662.354658; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:662.354658 # Seafloor depth:-702.354658 # behavior reson { duration = RESON_DURATION; 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 54.972675 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: 900.000000 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 = 54; # abortOnTimeout = True; initialDepth = 649.955204; finalDepth = 649.497665; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:649.497665 # Seafloor depth:-689.497665 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 638.646396; finalDepth = 649.955204; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.395424000001 # Actual altitude: 50 # Commanded vehicle depth:649.955203999999 # Seafloor depth:-690.350628 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 633.468501; finalDepth = 638.646396; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.395424000001 # Actual altitude: 50 # Commanded vehicle depth:638.646396 # Seafloor depth:-678.646396 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 631.370229; finalDepth = 633.468501; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:633.468501 # Seafloor depth:-673.468501 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 627.631052; finalDepth = 631.370229; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:631.370229 # Seafloor depth:-671.370229 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 625.924161; finalDepth = 627.631052; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:627.631052 # Seafloor depth:-667.631052 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 619.043302; finalDepth = 625.924161; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:625.924161 # Seafloor depth:-665.924161 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 617.111075; finalDepth = 619.043302; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:619.043302 # Seafloor depth:-659.043302 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 615.035249; finalDepth = 617.111075; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:617.111075 # Seafloor depth:-657.111075 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 611.543385; finalDepth = 615.035249; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:615.035249 # Seafloor depth:-655.035249 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 609.516334; finalDepth = 611.543385; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:611.543385 # Seafloor depth:-651.543385 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 602.661771; finalDepth = 609.516334; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:609.516334 # Seafloor depth:-649.516334 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 598.098969; finalDepth = 602.661771; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:602.661771 # Seafloor depth:-642.661771 # behavior reson { duration = RESON_DURATION; 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 19 # Segment length 54.972675 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: 900.000000 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 = 54; # abortOnTimeout = True; initialDepth = 597.007910; finalDepth = 598.098969; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:598.098969 # Seafloor depth:-638.098969 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 593.974075; finalDepth = 597.007910; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:597.00791 # Seafloor depth:-637.007910 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 591.974845; finalDepth = 593.974075; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:593.974075 # Seafloor depth:-633.974075 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 592.535615; finalDepth = 591.974845; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:591.974845 # Seafloor depth:-631.974845 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 593.672841; finalDepth = 592.535615; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:592.535615 # Seafloor depth:-632.535615 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 589.417612; finalDepth = 593.672841; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:593.672841 # Seafloor depth:-633.672841 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 588.079564; finalDepth = 589.417612; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:589.417612 # Seafloor depth:-629.417612 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 590.098383; finalDepth = 588.079564; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:588.079564 # Seafloor depth:-628.079564 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 585.289773; finalDepth = 590.098383; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:590.098383 # Seafloor depth:-630.098383 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 583.814465; finalDepth = 585.289773; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:585.289773 # Seafloor depth:-625.289773 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 581.054133; finalDepth = 583.814465; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:583.814465 # Seafloor depth:-623.814465 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 578.792574; finalDepth = 581.054133; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:581.054133 # Seafloor depth:-621.054133 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 576.438515; finalDepth = 578.792574; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:578.792574 # Seafloor depth:-618.792574 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 574.071438; finalDepth = 576.438515; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:576.438515 # Seafloor depth:-616.438515 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 573.092590; finalDepth = 574.071438; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:574.071438 # Seafloor depth:-614.071438 # behavior reson { duration = RESON_DURATION; 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 18 # Segment length 54.972675 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: 900.000000 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 = 54; # abortOnTimeout = True; initialDepth = 573.668556; finalDepth = 573.092590; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:573.09259 # Seafloor depth:-613.092590 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 575.243426; finalDepth = 573.668556; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:573.668556 # Seafloor depth:-613.668556 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 574.353302; finalDepth = 575.243426; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:575.243426 # Seafloor depth:-615.243426 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 573.719880; finalDepth = 574.353302; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:574.353302 # Seafloor depth:-614.353302 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 574.368363; finalDepth = 573.719880; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:573.71988 # Seafloor depth:-613.719880 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 572.218651; finalDepth = 574.368363; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:574.368363 # Seafloor depth:-614.368363 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 571.187905; finalDepth = 572.218651; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:572.218651 # Seafloor depth:-612.218651 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 569.343645; finalDepth = 571.187905; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:571.187905 # Seafloor depth:-611.187905 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 566.272649; finalDepth = 569.343645; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:569.343645 # Seafloor depth:-609.343645 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 564.171124; finalDepth = 566.272649; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:566.272649 # Seafloor depth:-606.272649 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 563.468471; finalDepth = 564.171124; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:564.171124 # Seafloor depth:-604.171124 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 562.881479; finalDepth = 563.468471; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:563.468471 # Seafloor depth:-603.468471 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 559.075463; finalDepth = 562.881479; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:562.881479 # Seafloor depth:-602.881479 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 553.782364; finalDepth = 559.075463; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:559.075463 # Seafloor depth:-599.075463 # behavior reson { duration = RESON_DURATION; 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 54.972675 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: 900.000000 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 = 54; # abortOnTimeout = True; initialDepth = 556.097327; finalDepth = 553.782364; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:553.782364 # Seafloor depth:-593.782364 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 558.649650; finalDepth = 556.097327; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:556.097327 # Seafloor depth:-596.097327 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 556.416627; finalDepth = 558.649650; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:558.64965 # Seafloor depth:-598.649650 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 558.788890; finalDepth = 556.416627; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:556.416627 # Seafloor depth:-596.416627 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 557.726787; finalDepth = 558.788890; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:558.78889 # Seafloor depth:-598.788890 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 558.174530; finalDepth = 557.726787; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:557.726787 # Seafloor depth:-597.726787 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 555.722860; finalDepth = 558.174530; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:558.17453 # Seafloor depth:-598.174530 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 555.809621; finalDepth = 555.722860; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:555.72286 # Seafloor depth:-595.722860 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 553.105034; finalDepth = 555.809621; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:555.809621 # Seafloor depth:-595.809621 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 549.741766; finalDepth = 553.105034; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:553.105034 # Seafloor depth:-593.105034 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 548.254120; finalDepth = 549.741766; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:549.741766 # Seafloor depth:-589.741766 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 547.012142; finalDepth = 548.254120; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:548.25412 # Seafloor depth:-588.254120 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 545.706960; finalDepth = 547.012142; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:547.012142 # Seafloor depth:-587.012142 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 544.414024; finalDepth = 545.706960; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:545.70696 # Seafloor depth:-585.706960 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 543.945502; finalDepth = 544.414024; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:544.414024 # Seafloor depth:-584.414024 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 542.973728; finalDepth = 543.945502; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:543.945502 # Seafloor depth:-583.945502 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 540.685948; finalDepth = 542.973728; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:542.973728 # Seafloor depth:-582.973728 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 538.312523; finalDepth = 540.685948; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:540.685948 # Seafloor depth:-580.685948 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 536.463455; finalDepth = 538.312523; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:538.312523 # Seafloor depth:-578.312523 # behavior reson { duration = RESON_DURATION; 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 54.972675 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: 900.000000 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 = 54; # abortOnTimeout = True; initialDepth = 533.335237; finalDepth = 536.463455; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:536.463455 # Seafloor depth:-576.463455 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 530.820670; finalDepth = 533.335237; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:533.335237 # Seafloor depth:-573.335237 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 525.921142; finalDepth = 530.820670; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:530.82067 # Seafloor depth:-570.820670 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 522.424540; finalDepth = 525.921142; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:525.921142 # Seafloor depth:-565.921142 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 520.684897; finalDepth = 522.424540; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:522.42454 # Seafloor depth:-562.424540 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 518.981324; finalDepth = 520.684897; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:520.684897 # Seafloor depth:-560.684897 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 518.176259; finalDepth = 518.981324; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:518.981324 # Seafloor depth:-558.981324 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 515.869246; finalDepth = 518.176259; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:518.176259 # Seafloor depth:-558.176259 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 516.187738; finalDepth = 515.869246; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:515.869246 # Seafloor depth:-555.869246 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 511.857925; finalDepth = 516.187738; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:516.187738 # Seafloor depth:-556.187738 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 507.432100; finalDepth = 511.857925; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:511.857925 # Seafloor depth:-551.857925 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 506.428632; finalDepth = 507.432100; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:507.4321 # Seafloor depth:-547.432100 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 504.461150; finalDepth = 506.428632; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:506.428632 # Seafloor depth:-546.428632 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 503.601715; finalDepth = 504.461150; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:504.46115 # Seafloor depth:-544.461150 # behavior reson { duration = RESON_DURATION; 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 15 # Segment length 54.972675 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: 900.000000 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 = 54; # abortOnTimeout = True; initialDepth = 505.065405; finalDepth = 503.601715; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:503.601715 # Seafloor depth:-543.601715 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 508.116488; finalDepth = 505.065405; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:505.065405 # Seafloor depth:-545.065405 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 511.099360; finalDepth = 508.116488; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:508.116488 # Seafloor depth:-548.116488 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 508.062742; finalDepth = 511.099360; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:511.09936 # Seafloor depth:-551.099360 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 505.462528; finalDepth = 508.062742; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:508.062742 # Seafloor depth:-548.062742 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 503.296575; finalDepth = 505.462528; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:505.462528 # Seafloor depth:-545.462528 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 502.512115; finalDepth = 503.296575; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # 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 = RESON_DURATION; 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 14 # Segment length 54.972675 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: 900.000000 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 = 54; # abortOnTimeout = True; initialDepth = 503.516091; finalDepth = 502.512115; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:502.512115 # Seafloor depth:-542.512115 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 503.126002; finalDepth = 503.516091; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:503.516091 # Seafloor depth:-543.516091 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 503.915628; finalDepth = 503.126002; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:503.126002 # Seafloor depth:-543.126002 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 507.590281; finalDepth = 503.915628; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:503.915628 # Seafloor depth:-543.915628 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 510.836816; finalDepth = 507.590281; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:507.590281 # Seafloor depth:-547.590281 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 513.593715; finalDepth = 510.836816; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:510.836816 # Seafloor depth:-550.836816 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 516.361993; finalDepth = 513.593715; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:513.593715 # Seafloor depth:-553.593715 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 518.844620; finalDepth = 516.361993; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:516.361993 # Seafloor depth:-556.361993 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 523.138269; finalDepth = 518.844620; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:518.84462 # Seafloor depth:-558.844620 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 527.285275; finalDepth = 523.138269; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:523.138269 # Seafloor depth:-563.138269 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 532.759228; finalDepth = 527.285275; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:527.285275 # Seafloor depth:-567.285275 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 536.549990; finalDepth = 532.759228; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:532.759228 # Seafloor depth:-572.759228 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 537.574491; finalDepth = 536.549990; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:536.54999 # Seafloor depth:-576.549990 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 537.785400; finalDepth = 537.574491; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:537.574491 # Seafloor depth:-577.574491 # behavior reson { duration = RESON_DURATION; 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 54.972675 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: 900.000000 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 = 54; # abortOnTimeout = True; initialDepth = 537.295830; finalDepth = 537.785400; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:537.7854 # Seafloor depth:-577.785400 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 537.791148; finalDepth = 537.295830; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:537.29583 # Seafloor depth:-577.295830 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 534.782626; finalDepth = 537.791148; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:537.791148 # Seafloor depth:-577.791148 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 534.779948; finalDepth = 534.782626; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:534.782626 # Seafloor depth:-574.782626 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 537.804033; finalDepth = 534.779948; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:534.779948 # Seafloor depth:-574.779948 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 540.671858; finalDepth = 537.804033; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:537.804033 # Seafloor depth:-577.804033 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 542.624121; finalDepth = 540.671858; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:540.671858 # Seafloor depth:-580.671858 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 544.321623; finalDepth = 542.624121; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:542.624121 # Seafloor depth:-582.624121 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 543.378324; finalDepth = 544.321623; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:544.321623 # Seafloor depth:-584.321623 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 543.276864; finalDepth = 543.378324; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:543.378324 # Seafloor depth:-583.378324 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 546.119233; finalDepth = 543.276864; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:543.276864 # Seafloor depth:-583.276864 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 547.225200; finalDepth = 546.119233; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:546.119233 # Seafloor depth:-586.119233 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 550.335291; finalDepth = 547.225200; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:547.2252 # Seafloor depth:-587.225200 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 554.138170; finalDepth = 550.335291; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:550.335291 # Seafloor depth:-590.335291 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 557.334717; finalDepth = 554.138170; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:554.13817 # Seafloor depth:-594.138170 # behavior reson { duration = RESON_DURATION; 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 54.972675 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: 900.000000 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 = 54; # abortOnTimeout = True; initialDepth = 557.500775; finalDepth = 557.334717; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:557.334717 # Seafloor depth:-597.334717 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 558.819230; finalDepth = 557.500775; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:557.500775 # Seafloor depth:-597.500775 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 560.373796; finalDepth = 558.819230; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:558.81923 # Seafloor depth:-598.819230 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 560.792291; finalDepth = 560.373796; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:560.373796 # Seafloor depth:-600.373796 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 561.699566; finalDepth = 560.792291; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:560.792291 # Seafloor depth:-600.792291 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 563.403423; finalDepth = 561.699566; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:561.699566 # Seafloor depth:-601.699566 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 566.859194; finalDepth = 563.403423; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:563.403423 # Seafloor depth:-603.403423 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 569.914427; finalDepth = 566.859194; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:566.859194 # Seafloor depth:-606.859194 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 573.919871; finalDepth = 569.914427; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:569.914427 # Seafloor depth:-609.914427 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 578.781606; finalDepth = 573.919871; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:573.919871 # Seafloor depth:-613.919871 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 579.896305; finalDepth = 578.781606; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:578.781606 # Seafloor depth:-618.781606 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 582.653534; finalDepth = 579.896305; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:579.896305 # Seafloor depth:-619.896305 # behavior reson { duration = RESON_DURATION; 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 54.972675 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: 900.000000 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 = 54; # abortOnTimeout = True; initialDepth = 582.588646; finalDepth = 582.653534; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:582.653534 # Seafloor depth:-622.653534 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 583.162026; finalDepth = 582.588646; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:582.588646 # Seafloor depth:-622.588646 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 585.863915; finalDepth = 583.162026; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:583.162026 # Seafloor depth:-623.162026 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 586.366586; finalDepth = 585.863915; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:585.863915 # Seafloor depth:-625.863915 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 590.162215; finalDepth = 586.366586; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:586.366586 # Seafloor depth:-626.366586 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 589.547975; finalDepth = 590.162215; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:590.162215 # Seafloor depth:-630.162215 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 592.353683; finalDepth = 589.547975; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:589.547975 # Seafloor depth:-629.547975 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 595.531165; finalDepth = 592.353683; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:592.353683 # Seafloor depth:-632.353683 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 596.531461; finalDepth = 595.531165; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:595.531165 # Seafloor depth:-635.531165 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 599.051274; finalDepth = 596.531461; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:596.531461 # Seafloor depth:-636.531461 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 602.613923; finalDepth = 599.051274; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:599.051274 # Seafloor depth:-639.051274 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 606.264434; finalDepth = 602.613923; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:602.613923 # Seafloor depth:-642.613923 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 613.654613; finalDepth = 606.264434; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:606.264434 # Seafloor depth:-646.264434 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 616.312881; finalDepth = 613.654613; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:613.654613 # Seafloor depth:-653.654613 # behavior reson { duration = RESON_DURATION; 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 10 # Segment length 54.972675 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: 900.000000 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 = 54; # abortOnTimeout = True; initialDepth = 621.425405; finalDepth = 616.312881; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:616.312881 # Seafloor depth:-656.312881 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 619.834577; finalDepth = 621.425405; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:621.425405 # Seafloor depth:-661.425405 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 620.739982; finalDepth = 619.834577; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:619.834577 # Seafloor depth:-659.834577 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 619.247476; finalDepth = 620.739982; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:620.739982 # Seafloor depth:-660.739982 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 615.903792; finalDepth = 619.247476; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:619.247476 # Seafloor depth:-659.247476 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 619.514680; finalDepth = 615.903792; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:615.903792 # Seafloor depth:-655.903792 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 619.996472; finalDepth = 619.514680; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:619.51468 # Seafloor depth:-659.514680 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 621.139698; finalDepth = 619.996472; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:619.996472 # Seafloor depth:-659.996472 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 623.996789; finalDepth = 621.139698; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:621.139698 # Seafloor depth:-661.139698 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 627.334373; finalDepth = 623.996789; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:623.996789 # Seafloor depth:-663.996789 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 633.069576; finalDepth = 627.334373; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:627.334373 # Seafloor depth:-667.334373 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 639.582384; finalDepth = 633.069576; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:633.069576 # Seafloor depth:-673.069576 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 648.439440; finalDepth = 639.582384; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:639.582384 # Seafloor depth:-679.582384 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 659.153384; finalDepth = 648.439440; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:648.43944 # Seafloor depth:-688.439440 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 664.953829; finalDepth = 659.153384; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:659.153384 # Seafloor depth:-699.153384 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 670.372844; finalDepth = 664.953829; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:664.953829 # Seafloor depth:-704.953829 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 675.572403; finalDepth = 670.372844; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:670.372844 # Seafloor depth:-710.372844 # behavior reson { duration = RESON_DURATION; 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 9 # Segment length 54.972675 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: 900.000000 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 = 54; # abortOnTimeout = True; initialDepth = 674.039890; finalDepth = 675.572403; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:675.572403 # Seafloor depth:-715.572403 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 671.284770; finalDepth = 674.039890; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:674.03989 # Seafloor depth:-714.039890 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 670.400916; finalDepth = 671.284770; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:671.28477 # Seafloor depth:-711.284770 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 671.271427; finalDepth = 670.400916; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:670.400916 # Seafloor depth:-710.400916 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 672.441230; finalDepth = 671.271427; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:671.271427 # Seafloor depth:-711.271427 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 677.664589; finalDepth = 672.441230; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:672.44123 # Seafloor depth:-712.441230 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 679.860678; finalDepth = 677.664589; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:677.664589 # Seafloor depth:-717.664589 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 677.300993; finalDepth = 679.860678; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:679.860678 # Seafloor depth:-719.860678 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 686.921057; finalDepth = 677.300993; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:677.300993 # Seafloor depth:-717.300993 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 686.955090; finalDepth = 686.921057; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:686.921057 # Seafloor depth:-726.921057 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 680.915424; finalDepth = 686.955090; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:686.95509 # Seafloor depth:-726.955090 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 687.922949; finalDepth = 680.915424; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:680.915424 # Seafloor depth:-720.915424 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 688.655893; finalDepth = 687.922949; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:687.922949 # Seafloor depth:-727.922949 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 688.610789; finalDepth = 688.655893; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:688.655893 # Seafloor depth:-728.655893 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 687.721090; finalDepth = 688.610789; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:688.610789 # Seafloor depth:-728.610789 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 685.499268; finalDepth = 687.721090; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:687.72109 # Seafloor depth:-727.721090 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 683.963668; finalDepth = 685.499268; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:685.499268 # Seafloor depth:-725.499268 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 683.789206; finalDepth = 683.963668; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:683.963668 # Seafloor depth:-723.963668 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 685.995057; finalDepth = 683.789206; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:683.789206 # Seafloor depth:-723.789206 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 687.589507; finalDepth = 685.995057; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:685.995057 # Seafloor depth:-725.995057 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 686.858793; finalDepth = 687.589507; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:687.589507 # Seafloor depth:-727.589507 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 684.515597; finalDepth = 686.858793; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:686.858793 # Seafloor depth:-726.858793 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 681.865771; finalDepth = 684.515597; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:684.515597 # Seafloor depth:-724.515597 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 689.678575; finalDepth = 681.865771; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:681.865771 # Seafloor depth:-721.865771 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 694.687981; finalDepth = 689.678575; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:689.678575 # Seafloor depth:-729.678575 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 699.428880; finalDepth = 694.687981; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:694.687981 # Seafloor depth:-734.687981 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 701.922294; finalDepth = 699.428880; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:699.42888 # Seafloor depth:-739.428880 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 703.646854; finalDepth = 701.922294; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:701.922294 # Seafloor depth:-741.922294 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 703.736579; finalDepth = 703.646854; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:703.646854 # Seafloor depth:-743.646854 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 704.594505; finalDepth = 703.736579; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:703.736579 # Seafloor depth:-743.736579 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 705.425698; finalDepth = 704.594505; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:704.594505 # Seafloor depth:-744.594505 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 707.087242; finalDepth = 705.425698; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:705.425698 # Seafloor depth:-745.425698 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 709.418106; finalDepth = 707.087242; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:707.087242 # Seafloor depth:-747.087242 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 709.987694; finalDepth = 709.418106; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:709.418106 # Seafloor depth:-749.418106 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 709.495330; finalDepth = 709.987694; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:709.987694 # Seafloor depth:-749.987694 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 706.427844; finalDepth = 709.495330; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:709.49533 # Seafloor depth:-749.495330 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 705.325574; finalDepth = 706.427844; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:706.427844 # Seafloor depth:-746.427844 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 707.115561; finalDepth = 705.325574; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:705.325574 # Seafloor depth:-745.325574 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 715.228261; finalDepth = 707.115561; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:707.115561 # Seafloor depth:-747.115561 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 724.180632; finalDepth = 715.228261; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:715.228261 # Seafloor depth:-755.228261 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 732.632754; finalDepth = 724.180632; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:724.180632 # Seafloor depth:-764.180632 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 740.711328; finalDepth = 732.632754; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:732.632754 # Seafloor depth:-772.632754 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 747.562694; finalDepth = 740.711328; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:740.711328 # Seafloor depth:-780.711328 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 780.209014; finalDepth = 747.562694; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:747.562694 # Seafloor depth:-787.562694 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 769.063122; finalDepth = 780.209014; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.4132405 # Actual altitude: 50 # Commanded vehicle depth:780.2090145 # Seafloor depth:-820.622255 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 54.972675 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: 900.000000 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 = 54; initialDepth = 797.988697; finalDepth = 769.063122; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.4132405 # Actual altitude: 50 # Commanded vehicle depth:769.063122 # Seafloor depth:-809.063122 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 797.988697 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.750535; longitude = -117.479975; captureRadius = 10; duration = 54; initialDepth = 810.358719; finalDepth = 797.988697; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.8964625 # Actual altitude: 50 # Commanded vehicle depth:797.9886965 # Seafloor depth:-842.885159 # behavior reson { duration = RESON_DURATION; 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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 810.358719 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.750985; longitude = -117.480187; captureRadius = 10; duration = 54; # abortOnTimeout = True; initialDepth = 810.626360; finalDepth = 810.358719; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.8964625 # Actual altitude: 50 # Commanded vehicle depth:810.358719 # Seafloor depth:-850.358719 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 810.626360 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.751403; longitude = -117.480314; captureRadius = 10; duration = 54; initialDepth = 808.069909; finalDepth = 810.626360; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:810.62636 # Seafloor depth:-850.626360 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 808.069909 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.751945; longitude = -117.480479; captureRadius = 10; duration = 54; initialDepth = 806.769045; finalDepth = 808.069909; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:808.069909 # Seafloor depth:-848.069909 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 806.769045 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.752394; longitude = -117.480615; captureRadius = 10; duration = 54; initialDepth = 806.890778; finalDepth = 806.769045; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:806.769045 # Seafloor depth:-846.769045 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 806.890778 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.752921; longitude = -117.480776; captureRadius = 10; duration = 54; initialDepth = 805.196650; finalDepth = 806.890778; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:806.890778 # Seafloor depth:-846.890778 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 805.196650 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.753447; longitude = -117.480936; captureRadius = 10; duration = 54; initialDepth = 803.401808; finalDepth = 805.196650; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:805.19665 # Seafloor depth:-845.196650 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 803.401808 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.753975; longitude = -117.481096; captureRadius = 10; duration = 54; initialDepth = 800.534918; finalDepth = 803.401808; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:803.401808 # Seafloor depth:-843.401808 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.534918 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.754516; longitude = -117.481261; captureRadius = 10; duration = 54; initialDepth = 795.325314; finalDepth = 800.534918; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:800.534918 # Seafloor depth:-840.534918 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 792.505736; finalDepth = 795.325314; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:795.325314 # Seafloor depth:-835.325314 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 792.673615; finalDepth = 792.505736; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:792.505736 # Seafloor depth:-832.505736 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 781.159461; finalDepth = 792.673615; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:792.673615 # Seafloor depth:-832.673615 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 779.592071; finalDepth = 781.159461; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:781.159461 # Seafloor depth:-821.159461 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 779.246203; finalDepth = 779.592071; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:779.592071 # Seafloor depth:-819.592071 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 779.028378; finalDepth = 779.246203; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:779.246203 # Seafloor depth:-819.246203 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 779.836107; finalDepth = 779.028378; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:779.028378 # Seafloor depth:-819.028378 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 780.249289; finalDepth = 779.836107; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:779.836107 # Seafloor depth:-819.836107 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 781.994682; finalDepth = 780.249289; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:780.249289 # Seafloor depth:-820.249289 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 785.776026; finalDepth = 781.994682; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:781.994682 # Seafloor depth:-821.994682 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 794.525940; finalDepth = 785.776026; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:785.776026 # Seafloor depth:-825.776026 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 799.687072; finalDepth = 794.525940; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:794.52594 # Seafloor depth:-834.525940 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 803.420058; finalDepth = 799.687072; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:799.687072 # Seafloor depth:-839.687072 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 803.420058 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.761870; longitude = -117.483496; captureRadius = 10; duration = 54; initialDepth = 805.687226; finalDepth = 803.420058; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:803.420058 # Seafloor depth:-843.420058 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 805.687226 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.762396; longitude = -117.483657; captureRadius = 10; duration = 54; initialDepth = 807.234646; finalDepth = 805.687226; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:805.687226 # Seafloor depth:-845.687226 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 807.234646 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.762923; longitude = -117.483817; captureRadius = 10; duration = 54; initialDepth = 805.383726; finalDepth = 807.234646; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:807.234646 # Seafloor depth:-847.234646 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 805.383726 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.763449; longitude = -117.483977; captureRadius = 10; duration = 54; initialDepth = 806.433598; finalDepth = 805.383726; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:805.383726 # Seafloor depth:-845.383726 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 806.433598 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.763990; longitude = -117.484141; captureRadius = 10; duration = 54; initialDepth = 804.662467; finalDepth = 806.433598; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:806.433598 # Seafloor depth:-846.433598 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 804.662467 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.764532; longitude = -117.484306; captureRadius = 10; duration = 54; initialDepth = 804.643506; finalDepth = 804.662467; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:804.662467 # Seafloor depth:-844.662467 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 804.643506 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.765073; longitude = -117.484470; captureRadius = 10; duration = 54; initialDepth = 804.466946; finalDepth = 804.643506; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:804.643506 # Seafloor depth:-844.643506 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 804.466946 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.765614; longitude = -117.484635; captureRadius = 10; duration = 54; initialDepth = 803.335265; finalDepth = 804.466946; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:804.466946 # Seafloor depth:-844.466946 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 803.335265 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.766156; longitude = -117.484800; captureRadius = 10; duration = 54; initialDepth = 802.306336; finalDepth = 803.335265; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:803.335265 # Seafloor depth:-843.335265 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 802.306336 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.766697; longitude = -117.484964; captureRadius = 10; duration = 54; initialDepth = 798.103783; finalDepth = 802.306336; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:802.306336 # Seafloor depth:-842.306336 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 793.223164; finalDepth = 798.103783; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:798.103783 # Seafloor depth:-838.103783 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 788.174105; finalDepth = 793.223164; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:793.223164 # Seafloor depth:-833.223164 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 785.734234; finalDepth = 788.174105; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:788.174105 # Seafloor depth:-828.174105 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 787.616624; finalDepth = 785.734234; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:785.734234 # Seafloor depth:-825.734234 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 791.000351; finalDepth = 787.616624; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:787.616624 # Seafloor depth:-827.616624 # behavior reson { duration = RESON_DURATION; 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 54.972675 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: 900.000000 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 = 54; # abortOnTimeout = True; initialDepth = 791.147790; finalDepth = 791.000351; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:791.000351 # Seafloor depth:-831.000351 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 797.007388; finalDepth = 791.147790; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:791.14779 # Seafloor depth:-831.147790 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 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 = 54; initialDepth = 801.836814; finalDepth = 797.007388; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:797.007388 # Seafloor depth:-837.007388 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 801.836814 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.770622; longitude = -117.486790; captureRadius = 10; duration = 54; initialDepth = 804.040790; finalDepth = 801.836814; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:801.836814 # Seafloor depth:-841.836814 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 804.040790 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.770943; longitude = -117.487178; captureRadius = 10; duration = 54; initialDepth = 805.316547; finalDepth = 804.040790; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:804.04079 # Seafloor depth:-844.040790 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 805.316547 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.771340; longitude = -117.487658; captureRadius = 10; duration = 54; initialDepth = 810.132072; finalDepth = 805.316547; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:805.316547 # Seafloor depth:-845.316547 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 810.132072 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.771738; longitude = -117.488138; captureRadius = 10; duration = 54; initialDepth = 819.576856; finalDepth = 810.132072; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:810.132072 # Seafloor depth:-850.132072 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 819.576856 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.772135; longitude = -117.488618; captureRadius = 10; duration = 54; initialDepth = 833.569290; finalDepth = 819.576856; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:819.576856 # Seafloor depth:-859.576856 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 833.569290 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.772532; longitude = -117.489098; captureRadius = 10; duration = 54; initialDepth = 851.411598; finalDepth = 833.569290; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:833.56929 # Seafloor depth:-873.569290 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 851.411598 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.772930; longitude = -117.489579; captureRadius = 10; duration = 54; initialDepth = 860.661812; finalDepth = 851.411598; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:851.411598 # Seafloor depth:-891.411598 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 860.661812 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.773329; longitude = -117.490061; captureRadius = 10; duration = 54; initialDepth = 859.875473; finalDepth = 860.661812; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:860.661812 # Seafloor depth:-900.661812 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 859.875473 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.773735; longitude = -117.490552; captureRadius = 10; duration = 54; initialDepth = 860.003080; finalDepth = 859.875473; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:859.875473 # Seafloor depth:-899.875473 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 860.003080 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.774141; longitude = -117.491042; captureRadius = 10; duration = 54; initialDepth = 860.524444; finalDepth = 860.003080; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:860.00308 # Seafloor depth:-900.003080 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 860.524444 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.774547; longitude = -117.491533; captureRadius = 10; duration = 54; initialDepth = 859.638819; finalDepth = 860.524444; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:860.524444 # Seafloor depth:-900.524444 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 859.638819 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.774953; longitude = -117.492024; captureRadius = 10; duration = 54; initialDepth = 857.776929; finalDepth = 859.638819; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:859.638819 # Seafloor depth:-899.638819 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 857.776929 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.775314; longitude = -117.492460; captureRadius = 10; duration = 54; initialDepth = 856.083155; finalDepth = 857.776929; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:857.776929 # Seafloor depth:-897.776929 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 856.083155 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.775630; longitude = -117.492841; captureRadius = 10; duration = 54; initialDepth = 852.678589; finalDepth = 856.083155; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:856.083155 # Seafloor depth:-896.083155 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 852.678589 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.775976; longitude = -117.493260; captureRadius = 10; duration = 54; initialDepth = 848.650870; finalDepth = 852.678589; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:852.678589 # Seafloor depth:-892.678589 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 848.650870 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.776306; longitude = -117.493659; captureRadius = 10; duration = 54; initialDepth = 845.401570; finalDepth = 848.650870; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:848.65087 # Seafloor depth:-888.650870 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 845.401570 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.776638; longitude = -117.494060; captureRadius = 10; duration = 54; initialDepth = 842.114666; finalDepth = 845.401570; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:845.40157 # Seafloor depth:-885.401570 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 842.114666 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.776983; longitude = -117.494477; captureRadius = 10; duration = 54; initialDepth = 839.544520; finalDepth = 842.114666; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:842.114666 # Seafloor depth:-882.114666 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 839.544520 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.777300; longitude = -117.494860; captureRadius = 10; duration = 54; initialDepth = 836.866761; finalDepth = 839.544520; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:839.54452 # Seafloor depth:-879.544520 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 836.866761 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.777698; longitude = -117.495341; captureRadius = 10; duration = 54; initialDepth = 839.444433; finalDepth = 836.866761; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:836.866761 # Seafloor depth:-876.866761 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 839.444433 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.778095; longitude = -117.495821; captureRadius = 10; duration = 54; initialDepth = 845.890535; finalDepth = 839.444433; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:839.444433 # Seafloor depth:-879.444433 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 845.890535 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.778492; longitude = -117.496301; captureRadius = 10; duration = 54; initialDepth = 855.258637; finalDepth = 845.890535; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:845.890535 # Seafloor depth:-885.890535 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 855.258637 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.778890; longitude = -117.496781; captureRadius = 10; duration = 54; initialDepth = 869.432128; finalDepth = 855.258637; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:855.258637 # Seafloor depth:-895.258637 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 869.432128 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.779287; longitude = -117.497261; captureRadius = 10; duration = 54; initialDepth = 882.976251; finalDepth = 869.432128; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:869.432128 # Seafloor depth:-909.432128 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 882.976251 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.779690; longitude = -117.497748; captureRadius = 10; duration = 54; initialDepth = 884.535910; finalDepth = 882.976251; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:882.976251 # Seafloor depth:-922.976251 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 884.535910 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.780096; longitude = -117.498239; captureRadius = 10; duration = 54; initialDepth = 883.419224; finalDepth = 884.535910; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:884.53591 # Seafloor depth:-924.535910 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 883.419224 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.780502; longitude = -117.498729; captureRadius = 10; duration = 54; initialDepth = 875.649146; finalDepth = 883.419224; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:883.419224 # Seafloor depth:-923.419224 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 875.649146 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.780908; longitude = -117.499220; captureRadius = 10; duration = 54; initialDepth = 873.615038; finalDepth = 875.649146; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:875.649146 # Seafloor depth:-915.649146 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 873.615038 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.781314; longitude = -117.499711; captureRadius = 10; duration = 54; initialDepth = 873.749653; finalDepth = 873.615038; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:873.615038 # Seafloor depth:-913.615038 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 873.749653 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.781720; longitude = -117.500201; captureRadius = 10; duration = 54; initialDepth = 873.775875; finalDepth = 873.749653; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:873.749653 # Seafloor depth:-913.749653 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 873.775875 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.782068; longitude = -117.500622; captureRadius = 10; duration = 54; initialDepth = 873.624881; finalDepth = 873.775875; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:873.775875 # Seafloor depth:-913.775875 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 873.624881 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.782397; longitude = -117.501019; captureRadius = 10; duration = 54; initialDepth = 874.300280; finalDepth = 873.624881; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:873.624881 # Seafloor depth:-913.624881 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 874.300280 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.782731; longitude = -117.501423; captureRadius = 10; duration = 54; initialDepth = 874.412444; finalDepth = 874.300280; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:874.30028 # Seafloor depth:-914.300280 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 874.412444 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.783073; longitude = -117.501837; captureRadius = 10; duration = 54; initialDepth = 872.512167; finalDepth = 874.412444; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:874.412444 # Seafloor depth:-914.412444 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 872.512167 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.783393; longitude = -117.502223; captureRadius = 10; duration = 54; initialDepth = 871.325213; finalDepth = 872.512167; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:872.512167 # Seafloor depth:-912.512167 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 871.325213 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.783790; longitude = -117.502703; captureRadius = 10; duration = 54; initialDepth = 870.623786; finalDepth = 871.325213; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:871.325213 # Seafloor depth:-911.325213 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 870.623786 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.784188; longitude = -117.503183; captureRadius = 10; duration = 54; initialDepth = 871.826024; finalDepth = 870.623786; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:870.623786 # Seafloor depth:-910.623786 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 871.826024 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.784585; longitude = -117.503664; captureRadius = 10; duration = 54; initialDepth = 870.137794; finalDepth = 871.826024; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:871.826024 # Seafloor depth:-911.826024 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 870.137794 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.784982; longitude = -117.504144; captureRadius = 10; duration = 54; initialDepth = 871.419714; finalDepth = 870.137794; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:870.137794 # Seafloor depth:-910.137794 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 871.419714 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.785380; longitude = -117.504624; captureRadius = 10; duration = 54; initialDepth = 872.147499; finalDepth = 871.419714; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:871.419714 # Seafloor depth:-911.419714 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 872.147499 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.785780; longitude = -117.505108; captureRadius = 10; duration = 54; initialDepth = 872.252437; finalDepth = 872.147499; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:872.147499 # Seafloor depth:-912.147499 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 872.252437 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.786186; longitude = -117.505599; captureRadius = 10; duration = 54; initialDepth = 872.668368; finalDepth = 872.252437; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:872.252437 # Seafloor depth:-912.252437 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 872.668368 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.786592; longitude = -117.506089; captureRadius = 10; duration = 54; initialDepth = 871.008278; finalDepth = 872.668368; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:872.668368 # Seafloor depth:-912.668368 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 871.008278 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.786998; longitude = -117.506580; captureRadius = 10; duration = 54; initialDepth = 871.171032; finalDepth = 871.008278; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:871.008278 # Seafloor depth:-911.008278 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 871.171032 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.787404; longitude = -117.507071; captureRadius = 10; duration = 54; initialDepth = 871.796228; finalDepth = 871.171032; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:871.171032 # Seafloor depth:-911.171032 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 871.796228 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.787764; longitude = -117.507505; captureRadius = 10; duration = 54; initialDepth = 870.439299; finalDepth = 871.796228; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:871.796228 # Seafloor depth:-911.796228 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 870.439299 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.788081; longitude = -117.507889; captureRadius = 10; duration = 54; initialDepth = 870.094331; finalDepth = 870.439299; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:870.439299 # Seafloor depth:-910.439299 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 870.094331 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.788426; longitude = -117.508305; captureRadius = 10; duration = 54; initialDepth = 870.172068; finalDepth = 870.094331; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:870.094331 # Seafloor depth:-910.094331 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 870.172068 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.788758; longitude = -117.508706; captureRadius = 10; duration = 54; initialDepth = 869.478858; finalDepth = 870.172068; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:870.172068 # Seafloor depth:-910.172068 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 869.478858 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.789088; longitude = -117.509105; captureRadius = 10; duration = 54; initialDepth = 869.619508; finalDepth = 869.478858; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:869.478858 # Seafloor depth:-909.478858 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 869.619508 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.789434; longitude = -117.509524; captureRadius = 10; duration = 54; initialDepth = 868.386084; finalDepth = 869.619508; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:869.619508 # Seafloor depth:-909.619508 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 868.386084 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.789750; longitude = -117.509906; captureRadius = 10; duration = 54; initialDepth = 867.747362; finalDepth = 868.386084; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:868.386084 # Seafloor depth:-908.386084 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 867.747362 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.790148; longitude = -117.510386; captureRadius = 10; duration = 54; initialDepth = 868.139084; finalDepth = 867.747362; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:867.747362 # Seafloor depth:-907.747362 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 868.139084 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.790545; longitude = -117.510866; captureRadius = 10; duration = 54; initialDepth = 867.149741; finalDepth = 868.139084; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:868.139084 # Seafloor depth:-908.139084 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 867.149741 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.790942; longitude = -117.511346; captureRadius = 10; duration = 54; initialDepth = 867.454896; finalDepth = 867.149741; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:867.149741 # Seafloor depth:-907.149741 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 867.454896 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.791339; longitude = -117.511826; captureRadius = 10; duration = 54; initialDepth = 866.786295; finalDepth = 867.454896; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:867.454896 # Seafloor depth:-907.454896 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 866.786295 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.791737; longitude = -117.512307; captureRadius = 10; duration = 54; initialDepth = 867.001885; finalDepth = 866.786295; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:866.786295 # Seafloor depth:-906.786295 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 867.001885 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.792141; longitude = -117.512795; captureRadius = 10; duration = 54; initialDepth = 866.585921; finalDepth = 867.001885; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:867.001885 # Seafloor depth:-907.001885 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 866.585921 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.792547; longitude = -117.513286; captureRadius = 10; duration = 54; initialDepth = 867.411007; finalDepth = 866.585921; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:866.585921 # Seafloor depth:-906.585921 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 867.411007 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.792953; longitude = -117.513777; captureRadius = 10; duration = 54; initialDepth = 868.565373; finalDepth = 867.411007; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:867.411007 # Seafloor depth:-907.411007 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 868.565373 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.793359; longitude = -117.514267; captureRadius = 10; duration = 54; initialDepth = 869.523510; finalDepth = 868.565373; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:868.565373 # Seafloor depth:-908.565373 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 869.523510 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.793765; longitude = -117.514758; captureRadius = 10; duration = 54; initialDepth = 869.967464; finalDepth = 869.523510; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:869.52351 # Seafloor depth:-909.523510 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 869.967464 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.794121; longitude = -117.515188; captureRadius = 10; duration = 54; initialDepth = 870.967026; finalDepth = 869.967464; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:869.967464 # Seafloor depth:-909.967464 # behavior reson { duration = RESON_DURATION; 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 6 # Segment length 54.972675 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: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 870.967026 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.794453; longitude = -117.515589; captureRadius = 10; duration = 54; # abortOnTimeout = True; initialDepth = 871.897591; finalDepth = 870.967026; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:870.967026 # Seafloor depth:-910.967026 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 911.897591 meters looking forward 0.000000 meters along route # Maximum depth: 911.897591 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 871.897591 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.794171; longitude = -117.515897; captureRadius = 10; duration = 54; initialDepth = 871.196412; finalDepth = 871.897591; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:871.897591 # Seafloor depth:-911.897591 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 911.196412 meters looking forward 0.000000 meters along route # Maximum depth: 911.196412 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 871.196412 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.793765; longitude = -117.516340; captureRadius = 10; duration = 54; initialDepth = 869.911784; finalDepth = 871.196412; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:871.196412 # Seafloor depth:-911.196412 # behavior reson { duration = RESON_DURATION; 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 54.972675 meters # Minimum depth: 909.911784 meters looking forward 0.000000 meters along route # Maximum depth: 909.911784 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 869.911784 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.793404; longitude = -117.516735; captureRadius = 10; duration = 54; # abortOnTimeout = True; initialDepth = 870.841644; finalDepth = 869.911784; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:869.911784 # Seafloor depth:-909.911784 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 910.841644 meters looking forward 0.000000 meters along route # Maximum depth: 910.841644 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 870.841644 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.793317; longitude = -117.516628; captureRadius = 10; duration = 54; initialDepth = 872.851115; finalDepth = 870.841644; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:870.841644 # Seafloor depth:-910.841644 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 912.851115 meters looking forward 0.000000 meters along route # Maximum depth: 912.851115 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 872.851115 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.792924; longitude = -117.516148; captureRadius = 10; duration = 54; initialDepth = 871.954382; finalDepth = 872.851115; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:872.851115 # Seafloor depth:-912.851115 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 911.954382 meters looking forward 0.000000 meters along route # Maximum depth: 911.954382 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 871.954382 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.792532; longitude = -117.515668; captureRadius = 10; duration = 54; initialDepth = 872.796644; finalDepth = 871.954382; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:871.954382 # Seafloor depth:-911.954382 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 912.796644 meters looking forward 0.000000 meters along route # Maximum depth: 912.796644 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 872.796644 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.792139; longitude = -117.515188; captureRadius = 10; duration = 54; initialDepth = 870.853180; finalDepth = 872.796644; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:872.796644 # Seafloor depth:-912.796644 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 910.853180 meters looking forward 0.000000 meters along route # Maximum depth: 910.853180 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 870.853180 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.791735; longitude = -117.514694; captureRadius = 10; duration = 54; initialDepth = 870.686433; finalDepth = 870.853180; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:870.85318 # Seafloor depth:-910.853180 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 910.686433 meters looking forward 0.000000 meters along route # Maximum depth: 910.686433 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 870.686433 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.791329; longitude = -117.514197; captureRadius = 10; duration = 54; initialDepth = 871.104478; finalDepth = 870.686433; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:870.686433 # Seafloor depth:-910.686433 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 911.104478 meters looking forward 0.000000 meters along route # Maximum depth: 911.104478 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 871.104478 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.790923; longitude = -117.513701; captureRadius = 10; duration = 54; initialDepth = 869.772145; finalDepth = 871.104478; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:871.104478 # Seafloor depth:-911.104478 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 909.772145 meters looking forward 0.000000 meters along route # Maximum depth: 909.772145 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 869.772145 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.790517; longitude = -117.513205; captureRadius = 10; duration = 54; initialDepth = 867.901422; finalDepth = 869.772145; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:869.772145 # Seafloor depth:-909.772145 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 907.901422 meters looking forward 0.000000 meters along route # Maximum depth: 907.901422 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 867.901422 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.790176; longitude = -117.512787; captureRadius = 10; duration = 54; initialDepth = 868.462338; finalDepth = 867.901422; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:867.901422 # Seafloor depth:-907.901422 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 908.462338 meters looking forward 0.000000 meters along route # Maximum depth: 908.462338 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 868.462338 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.789840; longitude = -117.512377; captureRadius = 10; duration = 54; initialDepth = 868.160714; finalDepth = 868.462338; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:868.462338 # Seafloor depth:-908.462338 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 908.160714 meters looking forward 0.000000 meters along route # Maximum depth: 908.160714 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 868.160714 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.789521; longitude = -117.511986; captureRadius = 10; duration = 54; initialDepth = 867.678896; finalDepth = 868.160714; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:868.160714 # Seafloor depth:-908.160714 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 907.678896 meters looking forward 0.000000 meters along route # Maximum depth: 907.678896 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 867.678896 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.789128; longitude = -117.511506; captureRadius = 10; duration = 54; initialDepth = 867.834123; finalDepth = 867.678896; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:867.678896 # Seafloor depth:-907.678896 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 907.834123 meters looking forward 0.000000 meters along route # Maximum depth: 907.834123 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 867.834123 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.788736; longitude = -117.511026; captureRadius = 10; duration = 54; initialDepth = 869.194352; finalDepth = 867.834123; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:867.834123 # Seafloor depth:-907.834123 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 909.194352 meters looking forward 0.000000 meters along route # Maximum depth: 909.194352 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 869.194352 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.788343; longitude = -117.510546; captureRadius = 10; duration = 54; initialDepth = 869.081404; finalDepth = 869.194352; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:869.194352 # Seafloor depth:-909.194352 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 909.081404 meters looking forward 0.000000 meters along route # Maximum depth: 909.081404 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 869.081404 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.787946; longitude = -117.510060; captureRadius = 10; duration = 54; initialDepth = 868.781321; finalDepth = 869.081404; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:869.081404 # Seafloor depth:-909.081404 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 908.781321 meters looking forward 0.000000 meters along route # Maximum depth: 908.781321 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 868.781321 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.787540; longitude = -117.509564; captureRadius = 10; duration = 54; initialDepth = 871.028367; finalDepth = 868.781321; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:868.781321 # Seafloor depth:-908.781321 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 911.028367 meters looking forward 0.000000 meters along route # Maximum depth: 911.028367 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 871.028367 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.787134; longitude = -117.509067; captureRadius = 10; duration = 54; initialDepth = 869.913312; finalDepth = 871.028367; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:871.028367 # Seafloor depth:-911.028367 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 909.913312 meters looking forward 0.000000 meters along route # Maximum depth: 909.913312 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 869.913312 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.786728; longitude = -117.508571; captureRadius = 10; duration = 54; initialDepth = 871.523693; finalDepth = 869.913312; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:869.913312 # Seafloor depth:-909.913312 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 911.523693 meters looking forward 0.000000 meters along route # Maximum depth: 911.523693 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 871.523693 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.786379; longitude = -117.508145; captureRadius = 10; duration = 54; initialDepth = 871.368495; finalDepth = 871.523693; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:871.523693 # Seafloor depth:-911.523693 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 911.368495 meters looking forward 0.000000 meters along route # Maximum depth: 911.368495 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 871.368495 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.786051; longitude = -117.507744; captureRadius = 10; duration = 54; initialDepth = 871.761140; finalDepth = 871.368495; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:871.368495 # Seafloor depth:-911.368495 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 911.761140 meters looking forward 0.000000 meters along route # Maximum depth: 911.761140 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 871.761140 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.785725; longitude = -117.507345; captureRadius = 10; duration = 54; initialDepth = 873.336473; finalDepth = 871.761140; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:871.76114 # Seafloor depth:-911.761140 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 913.336473 meters looking forward 0.000000 meters along route # Maximum depth: 913.336473 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 873.336473 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.785332; longitude = -117.506865; captureRadius = 10; duration = 54; initialDepth = 873.738228; finalDepth = 873.336473; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:873.336473 # Seafloor depth:-913.336473 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 913.738228 meters looking forward 0.000000 meters along route # Maximum depth: 913.738228 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 873.738228 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.784939; longitude = -117.506384; captureRadius = 10; duration = 54; initialDepth = 873.605069; finalDepth = 873.738228; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:873.738228 # Seafloor depth:-913.738228 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 913.605069 meters looking forward 0.000000 meters along route # Maximum depth: 913.605069 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 873.605069 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.784547; longitude = -117.505904; captureRadius = 10; duration = 54; initialDepth = 873.881556; finalDepth = 873.605069; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:873.605069 # Seafloor depth:-913.605069 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 913.881556 meters looking forward 0.000000 meters along route # Maximum depth: 913.881556 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 873.881556 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.784154; longitude = -117.505424; captureRadius = 10; duration = 54; initialDepth = 873.519804; finalDepth = 873.881556; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:873.881556 # Seafloor depth:-913.881556 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 913.519804 meters looking forward 0.000000 meters along route # Maximum depth: 913.519804 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 873.519804 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.783750; longitude = -117.504930; captureRadius = 10; duration = 54; initialDepth = 873.358925; finalDepth = 873.519804; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:873.519804 # Seafloor depth:-913.519804 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 913.358925 meters looking forward 0.000000 meters along route # Maximum depth: 913.358925 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 873.358925 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.783344; longitude = -117.504434; captureRadius = 10; duration = 54; initialDepth = 873.814675; finalDepth = 873.358925; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:873.358925 # Seafloor depth:-913.358925 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 913.814675 meters looking forward 0.000000 meters along route # Maximum depth: 913.814675 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 873.814675 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.782938; longitude = -117.503938; captureRadius = 10; duration = 54; initialDepth = 872.753506; finalDepth = 873.814675; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:873.814675 # Seafloor depth:-913.814675 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 912.753506 meters looking forward 0.000000 meters along route # Maximum depth: 912.753506 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 872.753506 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.782532; longitude = -117.503441; captureRadius = 10; duration = 54; initialDepth = 872.777111; finalDepth = 872.753506; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:872.753506 # Seafloor depth:-912.753506 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 912.777111 meters looking forward 0.000000 meters along route # Maximum depth: 912.777111 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 872.777111 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.782190; longitude = -117.503023; captureRadius = 10; duration = 54; initialDepth = 872.662686; finalDepth = 872.777111; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:872.777111 # Seafloor depth:-912.777111 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 912.662686 meters looking forward 0.000000 meters along route # Maximum depth: 912.662686 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 872.662686 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.781855; longitude = -117.502614; captureRadius = 10; duration = 54; initialDepth = 872.882809; finalDepth = 872.662686; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:872.662686 # Seafloor depth:-912.662686 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 912.882809 meters looking forward 0.000000 meters along route # Maximum depth: 912.882809 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 872.882809 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.781536; longitude = -117.502223; captureRadius = 10; duration = 54; initialDepth = 873.265514; finalDepth = 872.882809; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:872.882809 # Seafloor depth:-912.882809 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 913.265514 meters looking forward 0.000000 meters along route # Maximum depth: 913.265514 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 873.265514 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.781143; longitude = -117.501743; captureRadius = 10; duration = 54; initialDepth = 872.626620; finalDepth = 873.265514; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:873.265514 # Seafloor depth:-913.265514 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 912.626620 meters looking forward 0.000000 meters along route # Maximum depth: 912.626620 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 872.626620 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.780750; longitude = -117.501263; captureRadius = 10; duration = 54; initialDepth = 873.290528; finalDepth = 872.626620; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:872.62662 # Seafloor depth:-912.626620 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 913.290528 meters looking forward 0.000000 meters along route # Maximum depth: 913.290528 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 873.290528 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.780358; longitude = -117.500783; captureRadius = 10; duration = 54; initialDepth = 873.327971; finalDepth = 873.290528; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:873.290528 # Seafloor depth:-913.290528 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 913.327971 meters looking forward 0.000000 meters along route # Maximum depth: 913.327971 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 873.327971 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.779961; longitude = -117.500297; captureRadius = 10; duration = 54; initialDepth = 873.866178; finalDepth = 873.327971; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:873.327971 # Seafloor depth:-913.327971 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 913.866178 meters looking forward 0.000000 meters along route # Maximum depth: 913.866178 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 873.866178 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.779555; longitude = -117.499800; captureRadius = 10; duration = 54; initialDepth = 878.882420; finalDepth = 873.866178; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:873.866178 # Seafloor depth:-913.866178 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 918.882420 meters looking forward 0.000000 meters along route # Maximum depth: 918.882420 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 878.882420 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.779149; longitude = -117.499304; captureRadius = 10; duration = 54; initialDepth = 883.234822; finalDepth = 878.882420; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:878.88242 # Seafloor depth:-918.882420 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 923.234822 meters looking forward 0.000000 meters along route # Maximum depth: 923.234822 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 883.234822 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.778742; longitude = -117.498808; captureRadius = 10; duration = 54; initialDepth = 885.315869; finalDepth = 883.234822; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:883.234822 # Seafloor depth:-923.234822 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 925.315869 meters looking forward 0.000000 meters along route # Maximum depth: 925.315869 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 885.315869 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.778394; longitude = -117.498382; captureRadius = 10; duration = 54; initialDepth = 885.294901; finalDepth = 885.315869; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:885.315869 # Seafloor depth:-925.315869 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 925.294901 meters looking forward 0.000000 meters along route # Maximum depth: 925.294901 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 885.294901 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.778066; longitude = -117.497980; captureRadius = 10; duration = 54; initialDepth = 884.269645; finalDepth = 885.294901; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:885.294901 # Seafloor depth:-925.294901 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 924.269645 meters looking forward 0.000000 meters along route # Maximum depth: 924.269645 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 884.269645 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.777740; longitude = -117.497581; captureRadius = 10; duration = 54; initialDepth = 871.718309; finalDepth = 884.269645; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:884.269645 # Seafloor depth:-924.269645 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 911.718309 meters looking forward 0.000000 meters along route # Maximum depth: 911.718309 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 871.718309 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.777347; longitude = -117.497101; captureRadius = 10; duration = 54; initialDepth = 853.751451; finalDepth = 871.718309; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:871.718309 # Seafloor depth:-911.718309 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 893.751451 meters looking forward 0.000000 meters along route # Maximum depth: 893.751451 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 853.751451 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.776954; longitude = -117.496621; captureRadius = 10; duration = 54; initialDepth = 844.123236; finalDepth = 853.751451; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:853.751451 # Seafloor depth:-893.751451 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 884.123236 meters looking forward 0.000000 meters along route # Maximum depth: 884.123236 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 844.123236 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.776561; longitude = -117.496141; captureRadius = 10; duration = 54; initialDepth = 843.864794; finalDepth = 844.123236; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:844.123236 # Seafloor depth:-884.123236 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 883.864794 meters looking forward 0.000000 meters along route # Maximum depth: 883.864794 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 843.864794 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.776169; longitude = -117.495661; captureRadius = 10; duration = 54; initialDepth = 848.230257; finalDepth = 843.864794; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:843.864794 # Seafloor depth:-883.864794 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 888.230257 meters looking forward 0.000000 meters along route # Maximum depth: 888.230257 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 848.230257 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.775765; longitude = -117.495167; captureRadius = 10; duration = 54; initialDepth = 850.803118; finalDepth = 848.230257; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:848.230257 # Seafloor depth:-888.230257 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 890.803118 meters looking forward 0.000000 meters along route # Maximum depth: 890.803118 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 850.803118 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.775359; longitude = -117.494671; captureRadius = 10; duration = 54; initialDepth = 854.910009; finalDepth = 850.803118; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:850.803118 # Seafloor depth:-890.803118 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 894.910009 meters looking forward 0.000000 meters along route # Maximum depth: 894.910009 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 854.910009 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.774953; longitude = -117.494174; captureRadius = 10; duration = 54; initialDepth = 858.426395; finalDepth = 854.910009; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:854.910009 # Seafloor depth:-894.910009 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 898.426395 meters looking forward 0.000000 meters along route # Maximum depth: 898.426395 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 858.426395 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.774547; longitude = -117.493678; captureRadius = 10; duration = 54; initialDepth = 859.175869; finalDepth = 858.426395; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:858.426395 # Seafloor depth:-898.426395 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 899.175869 meters looking forward 0.000000 meters along route # Maximum depth: 899.175869 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 859.175869 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.774205; longitude = -117.493260; captureRadius = 10; duration = 54; initialDepth = 859.451181; finalDepth = 859.175869; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:859.175869 # Seafloor depth:-899.175869 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 899.451181 meters looking forward 0.000000 meters along route # Maximum depth: 899.451181 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 859.451181 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.773870; longitude = -117.492850; captureRadius = 10; duration = 54; initialDepth = 860.296391; finalDepth = 859.451181; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:859.451181 # Seafloor depth:-899.451181 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 900.296391 meters looking forward 0.000000 meters along route # Maximum depth: 900.296391 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 860.296391 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.773551; longitude = -117.492460; captureRadius = 10; duration = 54; initialDepth = 859.811871; finalDepth = 860.296391; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:860.296391 # Seafloor depth:-900.296391 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 899.811871 meters looking forward 0.000000 meters along route # Maximum depth: 899.811871 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 859.811871 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.773158; longitude = -117.491979; captureRadius = 10; duration = 54; initialDepth = 860.647854; finalDepth = 859.811871; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:859.811871 # Seafloor depth:-899.811871 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 900.647854 meters looking forward 0.000000 meters along route # Maximum depth: 900.647854 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 860.647854 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.772765; longitude = -117.491499; captureRadius = 10; duration = 54; initialDepth = 860.681621; finalDepth = 860.647854; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:860.647854 # Seafloor depth:-900.647854 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 900.681621 meters looking forward 0.000000 meters along route # Maximum depth: 900.681621 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 860.681621 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.772373; longitude = -117.491019; captureRadius = 10; duration = 54; initialDepth = 857.891335; finalDepth = 860.681621; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:860.681621 # Seafloor depth:-900.681621 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 897.891335 meters looking forward 0.000000 meters along route # Maximum depth: 897.891335 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 857.891335 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.771975; longitude = -117.490534; captureRadius = 10; duration = 54; initialDepth = 841.970608; finalDepth = 857.891335; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:857.891335 # Seafloor depth:-897.891335 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 881.970608 meters looking forward 0.000000 meters along route # Maximum depth: 881.970608 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 841.970608 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.771569; longitude = -117.490037; captureRadius = 10; duration = 54; initialDepth = 826.797235; finalDepth = 841.970608; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:841.970608 # Seafloor depth:-881.970608 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 866.797235 meters looking forward 0.000000 meters along route # Maximum depth: 866.797235 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 826.797235 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.771163; longitude = -117.489541; captureRadius = 10; duration = 54; initialDepth = 818.591477; finalDepth = 826.797235; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:826.797235 # Seafloor depth:-866.797235 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 858.591477 meters looking forward 0.000000 meters along route # Maximum depth: 858.591477 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 818.591477 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.770802; longitude = -117.489098; captureRadius = 10; duration = 54; initialDepth = 814.087150; finalDepth = 818.591477; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:818.591477 # Seafloor depth:-858.591477 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 854.087150 meters looking forward 0.000000 meters along route # Maximum depth: 854.087150 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 814.087150 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.770487; longitude = -117.488713; captureRadius = 10; duration = 54; initialDepth = 810.562433; finalDepth = 814.087150; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:814.08715 # Seafloor depth:-854.087150 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 850.562433 meters looking forward 0.000000 meters along route # Maximum depth: 850.562433 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 810.562433 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.770147; longitude = -117.488298; captureRadius = 10; duration = 54; initialDepth = 806.093477; finalDepth = 810.562433; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:810.562433 # Seafloor depth:-850.562433 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 846.093477 meters looking forward 0.000000 meters along route # Maximum depth: 846.093477 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 806.093477 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.769810; longitude = -117.487886; captureRadius = 10; duration = 54; initialDepth = 802.195231; finalDepth = 806.093477; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:806.093477 # Seafloor depth:-846.093477 # behavior reson { duration = RESON_DURATION; 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 54.972675 meters # Minimum depth: 842.195231 meters looking forward 0.000000 meters along route # Maximum depth: 842.195231 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 802.195231 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.769449; longitude = -117.487445; captureRadius = 10; duration = 54; # abortOnTimeout = True; initialDepth = 802.669466; finalDepth = 802.195231; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:802.195231 # Seafloor depth:-842.195231 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 842.669466 meters looking forward 0.000000 meters along route # Maximum depth: 842.669466 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 802.669466 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.769539; longitude = -117.487438; captureRadius = 10; duration = 54; initialDepth = 804.611514; finalDepth = 802.669466; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:802.669466 # Seafloor depth:-842.669466 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 844.611514 meters looking forward 0.000000 meters along route # Maximum depth: 844.611514 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 804.611514 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.770081; longitude = -117.487401; captureRadius = 10; duration = 54; initialDepth = 804.834750; finalDepth = 804.611514; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:804.611514 # Seafloor depth:-844.611514 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 844.834750 meters looking forward 0.000000 meters along route # Maximum depth: 844.834750 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 804.834750 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.770622; longitude = -117.487364; captureRadius = 10; duration = 54; initialDepth = 804.428934; finalDepth = 804.834750; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:804.83475 # Seafloor depth:-844.834750 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 844.428934 meters looking forward 0.000000 meters along route # Maximum depth: 844.428934 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 804.428934 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.771163; longitude = -117.487327; captureRadius = 10; duration = 54; initialDepth = 801.628642; finalDepth = 804.428934; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:804.428934 # Seafloor depth:-844.428934 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 841.628642 meters looking forward 0.000000 meters along route # Maximum depth: 841.628642 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 801.628642 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.771705; longitude = -117.487290; captureRadius = 10; duration = 54; initialDepth = 800.018197; finalDepth = 801.628642; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:801.628642 # Seafloor depth:-841.628642 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 840.018197 meters looking forward 0.000000 meters along route # Maximum depth: 840.018197 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.018197 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.772246; longitude = -117.487253; captureRadius = 10; duration = 54; initialDepth = 796.553195; finalDepth = 800.018197; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:800.018197 # Seafloor depth:-840.018197 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 836.553195 meters looking forward 0.000000 meters along route # Maximum depth: 836.553195 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 796.553195 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.772787; longitude = -117.487216; captureRadius = 10; duration = 54; initialDepth = 793.717268; finalDepth = 796.553195; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:796.553195 # Seafloor depth:-836.553195 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 833.717268 meters looking forward 0.000000 meters along route # Maximum depth: 833.717268 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 793.717268 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.773348; longitude = -117.487178; captureRadius = 10; duration = 54; initialDepth = 791.625257; finalDepth = 793.717268; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:793.717268 # Seafloor depth:-833.717268 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 831.625257 meters looking forward 0.000000 meters along route # Maximum depth: 831.625257 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 791.625257 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.773870; longitude = -117.487142; captureRadius = 10; duration = 54; initialDepth = 792.300859; finalDepth = 791.625257; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:791.625257 # Seafloor depth:-831.625257 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 832.300859 meters looking forward 0.000000 meters along route # Maximum depth: 832.300859 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 792.300859 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.774412; longitude = -117.487105; captureRadius = 10; duration = 54; initialDepth = 794.515218; finalDepth = 792.300859; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:792.300859 # Seafloor depth:-832.300859 # behavior reson { duration = RESON_DURATION; 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 54.972675 meters # Minimum depth: 834.515218 meters looking forward 0.000000 meters along route # Maximum depth: 834.515218 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 794.515218 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.774908; longitude = -117.487071; captureRadius = 10; duration = 54; # abortOnTimeout = True; initialDepth = 796.585711; finalDepth = 794.515218; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:794.515218 # Seafloor depth:-834.515218 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 836.585711 meters looking forward 0.000000 meters along route # Maximum depth: 836.585711 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 796.585711 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.775088; longitude = -117.487206; captureRadius = 10; duration = 54; initialDepth = 801.390134; finalDepth = 796.585711; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:796.585711 # Seafloor depth:-836.585711 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 841.390134 meters looking forward 0.000000 meters along route # Maximum depth: 841.390134 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 801.390134 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.775494; longitude = -117.487510; captureRadius = 10; duration = 54; initialDepth = 803.988562; finalDepth = 801.390134; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:801.390134 # Seafloor depth:-841.390134 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 843.988562 meters looking forward 0.000000 meters along route # Maximum depth: 843.988562 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 803.988562 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.775907; longitude = -117.487818; captureRadius = 10; duration = 54; initialDepth = 805.864673; finalDepth = 803.988562; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:803.988562 # Seafloor depth:-843.988562 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 845.864673 meters looking forward 0.000000 meters along route # Maximum depth: 845.864673 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 805.864673 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.776306; longitude = -117.488117; captureRadius = 10; duration = 54; initialDepth = 806.967350; finalDepth = 805.864673; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:805.864673 # Seafloor depth:-845.864673 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 846.967350 meters looking forward 0.000000 meters along route # Maximum depth: 846.967350 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 806.967350 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.776712; longitude = -117.488421; captureRadius = 10; duration = 54; initialDepth = 806.425824; finalDepth = 806.967350; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:806.96735 # Seafloor depth:-846.967350 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 846.425824 meters looking forward 0.000000 meters along route # Maximum depth: 846.425824 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 806.425824 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.777118; longitude = -117.488724; captureRadius = 10; duration = 54; initialDepth = 806.784709; finalDepth = 806.425824; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:806.425824 # Seafloor depth:-846.425824 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 846.784709 meters looking forward 0.000000 meters along route # Maximum depth: 846.784709 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 806.784709 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.777524; longitude = -117.489028; captureRadius = 10; duration = 54; initialDepth = 805.290365; finalDepth = 806.784709; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:806.784709 # Seafloor depth:-846.784709 # behavior reson { duration = RESON_DURATION; 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 54.972675 meters # Minimum depth: 845.290365 meters looking forward 0.000000 meters along route # Maximum depth: 845.290365 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 805.290365 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.777976; longitude = -117.489365; captureRadius = 10; duration = 54; # abortOnTimeout = True; initialDepth = 805.299209; finalDepth = 805.290365; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:805.290365 # Seafloor depth:-845.290365 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 845.299209 meters looking forward 0.000000 meters along route # Maximum depth: 845.299209 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 805.299209 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.778005; longitude = -117.489419; captureRadius = 10; duration = 54; initialDepth = 806.414712; finalDepth = 805.299209; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:805.299209 # Seafloor depth:-845.299209 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 846.414712 meters looking forward 0.000000 meters along route # Maximum depth: 846.414712 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 806.414712 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.778267; longitude = -117.489899; captureRadius = 10; duration = 54; initialDepth = 808.644864; finalDepth = 806.414712; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:806.414712 # Seafloor depth:-846.414712 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 848.644864 meters looking forward 0.000000 meters along route # Maximum depth: 848.644864 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 808.644864 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.778530; longitude = -117.490379; captureRadius = 10; duration = 54; initialDepth = 810.681009; finalDepth = 808.644864; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:808.644864 # Seafloor depth:-848.644864 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 850.681009 meters looking forward 0.000000 meters along route # Maximum depth: 850.681009 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 810.681009 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.778793; longitude = -117.490859; captureRadius = 10; duration = 54; initialDepth = 813.707742; finalDepth = 810.681009; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:810.681009 # Seafloor depth:-850.681009 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 853.707742 meters looking forward 0.000000 meters along route # Maximum depth: 853.707742 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 813.707742 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.779056; longitude = -117.491339; captureRadius = 10; duration = 54; initialDepth = 814.141505; finalDepth = 813.707742; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:813.707742 # Seafloor depth:-853.707742 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 854.141505 meters looking forward 0.000000 meters along route # Maximum depth: 854.141505 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 814.141505 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.779318; longitude = -117.491819; captureRadius = 10; duration = 54; initialDepth = 813.426191; finalDepth = 814.141505; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:814.141505 # Seafloor depth:-854.141505 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 853.426191 meters looking forward 0.000000 meters along route # Maximum depth: 853.426191 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 813.426191 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.779581; longitude = -117.492300; captureRadius = 10; duration = 54; initialDepth = 813.598300; finalDepth = 813.426191; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:813.426191 # Seafloor depth:-853.426191 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 853.598300 meters looking forward 0.000000 meters along route # Maximum depth: 853.598300 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 813.598300 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.779844; longitude = -117.492780; captureRadius = 10; duration = 54; initialDepth = 813.334483; finalDepth = 813.598300; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:813.5983 # Seafloor depth:-853.598300 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 853.334483 meters looking forward 0.000000 meters along route # Maximum depth: 853.334483 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 813.334483 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.780107; longitude = -117.493260; captureRadius = 10; duration = 54; initialDepth = 815.260673; finalDepth = 813.334483; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:813.334483 # Seafloor depth:-853.334483 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 855.260673 meters looking forward 0.000000 meters along route # Maximum depth: 855.260673 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 815.260673 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.780369; longitude = -117.493740; captureRadius = 10; duration = 54; initialDepth = 820.029419; finalDepth = 815.260673; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:815.260673 # Seafloor depth:-855.260673 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 860.029419 meters looking forward 0.000000 meters along route # Maximum depth: 860.029419 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 820.029419 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.780637; longitude = -117.494230; captureRadius = 10; duration = 54; initialDepth = 826.677409; finalDepth = 820.029419; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:820.029419 # Seafloor depth:-860.029419 # behavior reson { duration = RESON_DURATION; 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 54.972675 meters # Minimum depth: 866.677409 meters looking forward 0.000000 meters along route # Maximum depth: 866.677409 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 826.677409 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.780953; longitude = -117.494807; captureRadius = 10; duration = 54; # abortOnTimeout = True; initialDepth = 831.313652; finalDepth = 826.677409; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:826.677409 # Seafloor depth:-866.677409 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 871.313652 meters looking forward 0.000000 meters along route # Maximum depth: 871.313652 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 831.313652 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.780960; longitude = -117.495181; captureRadius = 10; duration = 54; initialDepth = 843.960083; finalDepth = 831.313652; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:831.313652 # Seafloor depth:-871.313652 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 883.960083 meters looking forward 0.000000 meters along route # Maximum depth: 883.960083 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 843.960083 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.780972; longitude = -117.495821; captureRadius = 10; duration = 54; initialDepth = 858.339237; finalDepth = 843.960083; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:843.960083 # Seafloor depth:-883.960083 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 898.339237 meters looking forward 0.000000 meters along route # Maximum depth: 898.339237 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 858.339237 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.780983; longitude = -117.496461; captureRadius = 10; duration = 54; initialDepth = 871.589997; finalDepth = 858.339237; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:858.339237 # Seafloor depth:-898.339237 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 911.589997 meters looking forward 0.000000 meters along route # Maximum depth: 911.589997 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 871.589997 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.780995; longitude = -117.497101; captureRadius = 10; duration = 54; initialDepth = 880.688923; finalDepth = 871.589997; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:871.589997 # Seafloor depth:-911.589997 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 920.688923 meters looking forward 0.000000 meters along route # Maximum depth: 920.688923 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 880.688923 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.781007; longitude = -117.497741; captureRadius = 10; duration = 54; initialDepth = 881.583476; finalDepth = 880.688923; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:880.688923 # Seafloor depth:-920.688923 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 921.583476 meters looking forward 0.000000 meters along route # Maximum depth: 921.583476 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 881.583476 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.781019; longitude = -117.498382; captureRadius = 10; duration = 54; initialDepth = 876.940868; finalDepth = 881.583476; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:881.583476 # Seafloor depth:-921.583476 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 916.940868 meters looking forward 0.000000 meters along route # Maximum depth: 916.940868 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 876.940868 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.781031; longitude = -117.499022; captureRadius = 10; duration = 54; initialDepth = 872.444885; finalDepth = 876.940868; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:876.940868 # Seafloor depth:-916.940868 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 912.444885 meters looking forward 0.000000 meters along route # Maximum depth: 912.444885 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 872.444885 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.781043; longitude = -117.499715; captureRadius = 10; duration = 54; initialDepth = 872.637170; finalDepth = 872.444885; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:872.444885 # Seafloor depth:-912.444885 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 912.637170 meters looking forward 0.000000 meters along route # Maximum depth: 912.637170 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 872.637170 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.781054; longitude = -117.500302; captureRadius = 10; duration = 54; initialDepth = 872.156199; finalDepth = 872.637170; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:872.63717 # Seafloor depth:-912.637170 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 912.156199 meters looking forward 0.000000 meters along route # Maximum depth: 912.156199 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 872.156199 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.781066; longitude = -117.500943; captureRadius = 10; duration = 54; initialDepth = 872.710286; finalDepth = 872.156199; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:872.156199 # Seafloor depth:-912.156199 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 54.972675 meters # Minimum depth: 912.710286 meters looking forward 0.000000 meters along route # Maximum depth: 912.710286 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 900.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 872.710286 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.781078; longitude = -117.501583; captureRadius = 10; duration = 54; initialDepth = 872.547852; finalDepth = 872.710286; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # 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:872.710286 # Seafloor depth:-912.710286 # behavior reson { duration = RESON_DURATION; 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; } # ####################################################### ####################################################### # ####################################################### # Turn Mapping sonars on and start logging. # behavior reson { duration = RESON_DURATION; Log_Mode = 1; } # Set sonar parameters # Commanded altitude: 40 # Sonar parameter altitude: 50 # Commanded vehicle depth:872.547852 # Seafloor depth:-912.547852 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; 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 behavior to get back to start of line 1 # Segment length 54.972675 meters # Minimum depth: 912.547852 meters looking forward 0.000000 meters along route # Maximum depth: 912.547852 meters looking forward 0.000000 meters along route # Vehicle depth: 872.547852 meters behavior waypoint { latitude = 32.781088; longitude = -117.502170; captureRadius = 10; duration = 600; depth = 872.547852; speed = MISSION_SPEED; } # # Zero speed setpoint to allow final nav updates over acoustic modem behavior setpoint { duration = 180; heading = 270.0; speed = 0.0; verticalMode = pitch; pitch = 0; } # # Spiral descend behavior to get to proper depth at start of line 1 # Behavior depth of 872.547852 meters set by local depth and desired altitude behavior descend { duration = 2626; horizontalMode = rudder; horizontal = DESCENDRUDDER; pitch = DESCENDPITCH; speed = MISSION_SPEED; maxDepth = SPIRAL_DESCENT_DEPTH; minAltitude = ALTITUDE_MIN; } # # Waypoint behavior to get to start of line 1 # Segment length 54.972675 meters # Minimum depth: 912.547852 meters looking forward 0.000000 meters along route # Maximum depth: 912.547852 meters looking forward 0.000000 meters along route # Vehicle depth: 30.000000 meters behavior waypoint { latitude = 32.781088; longitude = -117.502170; captureRadius = 10; duration = 600; depth = 30.000000; speed = MISSION_SPEED; } # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 10.0; pitch = DESCENDPITCH; speed = MISSION_SPEED; maxDepth = DESCENT_DEPTH; minAltitude = ALTITUDE_MIN; duration = DESCEND_DURATION; } # # setpoint on surface to gather momentum behavior setpoint { duration = SETPOINT_DURATION; heading = 10.0; speed = MISSION_SPEED; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = GPS_DURATION; minHits = GPSMINHITS; abortOnTimeout = True; } ####################################################### # Set sonar parameters, turn pinging on, power zero and logging off # behavior reson { duration = RESON_DURATION; 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; } # ####################################################### #######################################################