# 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_3v3.rte # Mission File: LaJolla_3v3.cfg # Distance: 93434.613969 (m) # Estimated Time: 63644 (s) 17.679 (hr) # Abort Time: 62377 (s) # Max battery life: 64800 (s) # Safety margin: 1800 (s) # Ascend time: 622 (s) # Way Points: 188 # Route Points: 1718 # Survey behavior: WaypointDepth # Descent style: Waypoint descent # Mapping sonar control enabled: # # Mission Parameters: # Vehicle Speed: 1.500000 (m/s) 2.915769 (knots) # Desired Vehicle Altitude: 40 (m) # Minimum Vehicle Altitude: 50 (m) # Abort Vehicle Altitude: 30 (m) # Maximum Vehicle Depth: 633.192904 (m) # Abort Vehicle Depth: 658.192904 (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 -117.293363 32.878146 -96.271086 0.000000 1 # 1 -117.294645 32.884235 -241.025421 685.590023 1 # 2 -117.296301 32.889061 -339.042679 1242.567773 1 # 3 -117.297102 32.891091 -374.154472 1479.755040 1 # 4 -117.302336 32.892083 -390.555870 1981.495644 1 # 5 -117.305755 32.889873 -396.320717 2384.343504 1 # 6 -117.311950 32.885723 -430.705147 3124.222603 1 # 7 -117.317131 32.887302 -471.061600 3639.479296 1 # 8 -117.321084 32.890459 -483.095444 4148.591284 1 # 9 -117.323327 32.893165 -476.817276 4514.655410 1 # 10 -117.324983 32.897044 -480.047974 4971.720808 1 # 11 -117.327653 32.898443 -505.142952 5265.674890 1 # 12 -117.331232 32.899345 -530.810532 5615.012186 1 # 13 -117.335825 32.898713 -527.415314 6050.240737 1 # 14 -117.338282 32.899345 -538.457626 6290.471349 1 # 15 -117.345920 32.903314 -542.108475 7129.425512 1 # 16 -117.348964 32.905749 -520.018784 7521.732930 1 # 17 -117.354733 32.907373 -553.411377 8090.471117 1 # 18 -117.360554 32.908275 -568.585480 8643.925262 1 # 19 -117.369154 32.910621 -589.654022 9489.141157 1 # 20 -117.378607 32.911703 -616.533279 10381.199648 1 # 21 -117.384269 32.912064 -630.116669 10912.163930 1 # 22 -117.400773 32.908681 -604.001312 12500.396992 1 # 23 -117.398316 32.921445 -624.179214 13933.950079 1 # 24 -117.396287 32.921536 -624.689285 14123.929767 1 # 25 -117.398476 32.910621 -623.513168 15351.161560 1 # 26 -117.384109 32.913417 -631.903305 16729.913835 1 # 27 -117.378447 32.913056 -617.736481 17260.870080 1 # 28 -117.368726 32.911929 -597.662262 18178.420523 1 # 29 -117.360020 32.909673 -577.988678 19030.078227 1 # 30 -117.353985 32.908681 -564.294281 19605.042681 1 # 31 -117.348056 32.906922 -562.438522 20192.780280 1 # 32 -117.344958 32.904396 -545.168869 20595.709418 1 # 33 -117.337962 32.900698 -540.772385 21367.801812 1 # 34 -117.335505 32.900066 -520.054916 21608.029080 1 # 35 -117.330911 32.900698 -531.080826 22043.343481 1 # 36 -117.326692 32.899660 -503.616539 22454.350161 1 # 37 -117.324021 32.897991 -491.311554 22765.211243 1 # 38 -117.321885 32.893571 -490.260178 23294.369171 1 # 39 -117.319802 32.891136 -483.882828 23627.273305 1 # 40 -117.316437 32.888565 -458.097755 24051.885940 1 # 41 -117.312004 32.887167 -437.687492 24494.543147 1 # 42 -117.306556 32.891091 -419.594978 25164.541002 1 # 43 -117.302336 32.893436 -393.581047 25637.158904 1 # 44 -117.296568 32.892354 -377.082573 26189.810931 1 # 45 -117.290052 32.884596 -369.545601 27243.911915 1 # 46 -117.288610 32.885272 -368.084663 27398.213931 1 # 47 -117.295767 32.893707 -402.467049 28548.224130 1 # 48 -117.302336 32.894789 -388.789139 29174.209396 1 # 49 -117.307464 32.892218 -422.968987 29732.122820 1 # 50 -117.312111 32.888565 -442.446732 30326.189453 1 # 51 -117.315529 32.889602 -453.254707 30665.928511 1 # 52 -117.318413 32.891632 -474.531189 31017.223255 1 # 53 -117.320443 32.894248 -476.868851 31363.854848 1 # 54 -117.322900 32.898803 -496.256386 31918.647045 1 # 55 -117.325784 32.900698 -503.370552 32260.526053 1 # 56 -117.330537 32.901961 -529.566055 32726.560776 1 # 57 -117.335077 32.901374 -520.084686 33156.101515 1 # 58 -117.337481 32.901916 -539.651566 33388.815530 1 # 59 -117.343890 32.905434 -551.354462 34103.892600 1 # 60 -117.347255 32.908005 -560.811371 34528.462369 1 # 61 -117.353344 32.909899 -562.464905 35135.342328 1 # 62 -117.359540 32.910891 -575.790039 35725.083581 1 # 63 -117.368192 32.913056 -608.470413 36568.980990 1 # 64 -117.378340 32.914499 -615.538803 37531.289846 1 # 65 -117.383949 32.914770 -631.273422 38056.631225 1 # 66 -117.398156 32.912244 -630.628326 39414.299086 1 # 67 -117.397836 32.913597 -633.897720 39567.248861 1 # 68 -117.383628 32.916258 -617.819000 40928.152994 1 # 69 -117.378127 32.915898 -611.465240 41444.073436 1 # 70 -117.367551 32.914274 -601.442978 42449.253970 1 # 71 -117.359059 32.912109 -576.567825 43278.808157 1 # 72 -117.352810 32.911026 -574.859283 43875.359945 1 # 73 -117.346401 32.909132 -554.125336 44510.393181 1 # 74 -117.342769 32.906381 -544.806091 44966.866202 1 # 75 -117.336947 32.903178 -526.149567 45616.880225 1 # 76 -117.334703 32.902772 -518.313858 45831.509440 1 # 77 -117.330217 32.903314 -526.709000 46255.316636 1 # 78 -117.324983 32.901780 -503.224167 46773.497644 1 # 79 -117.321725 32.899796 -499.891403 47149.281408 1 # 80 -117.318840 32.894924 -449.176994 47753.035108 1 # 81 -117.316971 32.892444 -436.287262 48078.832749 1 # 82 -117.314995 32.890865 -446.419640 48333.388711 1 # 83 -117.312164 32.890008 -444.562111 48614.706427 1 # 84 -117.308158 32.893391 -428.372917 49144.839522 1 # 85 -117.302550 32.896097 -403.451958 49749.069624 1 # 86 -117.294966 32.894924 -398.862320 50470.197540 1 # 87 -117.287328 32.886084 -363.424248 51682.943537 1 # 88 -117.286633 32.887753 -333.456276 51879.055109 1 # 89 -117.291013 32.892579 -364.509491 52552.896470 1 # 90 -117.293577 32.894879 -373.964958 52902.925523 1 # 91 -117.297743 32.896774 -412.582359 53345.582300 1 # 92 -117.303351 32.897991 -415.863945 53887.143551 1 # 93 -117.308158 32.894879 -434.001617 54453.837290 1 # 94 -117.312164 32.891902 -443.028107 54953.138423 1 # 95 -117.314514 32.891948 -437.712578 55172.994361 1 # 96 -117.317398 32.895601 -421.354889 55659.572221 1 # 97 -117.320443 32.900878 -484.349495 56310.211476 1 # 98 -117.321885 32.903178 -505.203278 56598.654516 1 # 99 -117.323487 32.904126 -510.679565 56781.656879 1 # 100 -117.325624 32.904486 -512.651558 56985.450013 1 # 101 -117.327974 32.904667 -504.018799 57206.129898 1 # 102 -117.332193 32.905028 -506.161560 57602.702946 1 # 103 -117.335184 32.904396 -521.477081 57891.054463 1 # 104 -117.337427 32.904667 -528.569473 58102.954648 1 # 105 -117.339243 32.906245 -524.032440 58346.765467 1 # 106 -117.340846 32.907869 -524.631180 58581.039616 1 # 107 -117.343890 32.909222 -537.297897 58902.794413 1 # 108 -117.345119 32.911026 -550.953445 59133.455319 1 # 109 -117.347896 32.912740 -552.848022 59455.227439 1 # 110 -117.350246 32.914003 -557.866577 59715.788614 1 # 111 -117.353023 32.914905 -558.625488 59994.046214 1 # 112 -117.355854 32.915762 -569.912338 60275.295156 1 # 113 -117.359112 32.915717 -583.665222 60579.977946 1 # 114 -117.363599 32.915041 -585.189178 61006.180771 1 # 115 -117.366163 32.914770 -590.614899 61247.807079 1 # 116 -117.368887 32.914364 -600.913071 61506.466598 1 # 117 -117.371450 32.914499 -604.635651 61746.592611 1 # 118 -117.372892 32.916258 -575.148453 61983.672785 1 # 119 -117.372839 32.918063 -573.703094 62183.836957 1 # 120 -117.376204 32.920092 -579.647369 62570.607747 1 # 121 -117.379943 32.920994 -583.896164 62934.227500 1 # 122 -117.382987 32.921536 -605.053268 63225.115481 1 # 123 -117.384910 32.922753 -609.988251 63449.905095 1 # 124 -117.386993 32.923430 -616.533203 63658.622988 1 # 125 -117.389503 32.923610 -618.933716 63894.149487 1 # 126 -117.391800 32.923024 -621.015472 64118.525108 1 # 127 -117.396714 32.921581 -624.221588 64605.032976 1 # 128 -117.396928 32.920047 -634.596390 64776.266178 1 # 129 -117.391319 32.921536 -626.183945 65326.077083 1 # 130 -117.389076 32.922212 -623.617920 65548.784477 1 # 131 -117.387420 32.922122 -633.219971 65703.940434 1 # 132 -117.385658 32.921445 -625.710251 65884.977095 1 # 133 -117.383949 32.920183 -619.433960 66097.362022 1 # 134 -117.380103 32.919506 -600.575958 66464.717993 1 # 135 -117.376738 32.918829 -581.681686 66788.181047 1 # 136 -117.371450 32.916529 -571.906830 67344.502511 1 # 137 -117.368887 32.913282 -609.573471 67776.948306 1 # 138 -117.362584 32.914139 -599.830597 68373.937669 1 # 139 -117.359059 32.914545 -588.440033 68706.609779 1 # 140 -117.356068 32.914499 -581.845840 68986.335991 1 # 141 -117.353451 32.913597 -575.674988 69250.687669 1 # 142 -117.350567 32.912786 -569.877670 69534.958292 1 # 143 -117.348484 32.911703 -558.588089 69763.768346 1 # 144 -117.346080 32.910079 -553.186966 70051.775693 1 # 145 -117.342074 32.907373 -529.320999 70531.700016 1 # 146 -117.339083 32.904080 -539.242065 70991.597618 1 # 147 -117.335077 32.903675 -526.100418 71368.912131 1 # 148 -117.331552 32.906245 -501.243645 71804.619385 1 # 149 -117.327867 32.905975 -488.355759 72150.522406 1 # 150 -117.325250 32.905749 -485.255737 72396.532862 1 # 151 -117.322419 32.905028 -469.425201 72673.080783 1 # 152 -117.320817 32.902727 -480.054382 72968.909600 1 # 153 -117.321725 32.901284 -506.805923 73150.020835 1 # 154 -117.324288 32.902908 -508.068901 73449.795755 1 # 155 -117.329896 32.904126 -505.574738 73991.350626 1 # 156 -117.341326 32.901780 -537.763168 75091.458417 1 # 157 -117.347255 32.910034 -555.661957 76161.372052 1 # 158 -117.352329 32.912244 -575.532104 76695.366136 1 # 159 -117.358151 32.913417 -578.141800 77255.089990 1 # 160 -117.361462 32.913327 -596.091553 77564.901249 1 # 161 -117.370329 32.912199 -604.898885 78403.347466 1 # 162 -117.374014 32.916394 -577.842972 78982.150696 1 # 163 -117.377005 32.917657 -582.598526 79294.914513 1 # 164 -117.380423 32.918288 -602.552414 79622.075970 1 # 165 -117.384216 32.918875 -616.475662 79982.653698 1 # 166 -117.386459 32.920092 -621.068863 80232.027494 1 # 167 -117.388542 32.920769 -626.315094 80440.750841 1 # 168 -117.390999 32.920183 -623.365631 80679.491734 1 # 169 -117.396874 32.918739 -645.898376 81251.667161 1 # 170 -117.397034 32.917251 -656.692230 81417.304631 1 # 171 -117.388862 32.919145 -622.570175 82209.739043 1 # 172 -117.386779 32.918739 -621.052841 82409.638179 1 # 173 -117.384696 32.917792 -618.300522 82630.898658 1 # 174 -117.380691 32.917251 -608.303391 83010.154973 1 # 175 -117.373160 32.915898 -588.370956 83730.139143 1 # 176 -117.373800 32.914545 -612.386703 83891.630628 1 # 177 -117.381171 32.915627 -619.074646 84591.228059 1 # 178 -117.385551 32.916800 -620.461395 85020.931194 1 # 179 -117.389023 32.917792 -626.121246 85363.699393 1 # 180 -117.397408 32.916123 -656.046829 86169.273675 1 # 181 -117.397568 32.914905 -647.524078 86305.128050 1 # 182 -117.388916 32.916529 -624.693604 87133.933515 1 # 183 -117.382453 32.917927 -611.748871 87757.809737 1 # 184 -117.374655 32.912199 -610.747009 88724.720623 1 # 185 -117.354572 32.911838 -571.591146 90603.063869 1 # 186 -117.340472 32.902908 -544.284342 92251.973162 1 # 187 -117.327867 32.902051 -518.608805 93434.613969 1 # # A total of 1718 mission points have been defined. # # Define Mission parameters: #define MISSION_SPEED 1.500000 #define MISSION_DISTANCE 93434.613969 #define MISSION_TIME 63644 #define MISSION_TIMEOUT 64800 #define DEPTH_MAX 633.192904 #define DEPTH_ABORT 658.192904 #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 0.000000 #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 = 622; 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 187 # Segment length 50.765818 meters # Minimum depth: 518.608805 meters looking forward 0.000000 meters along route # Maximum depth: 518.608805 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 478.608805 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.902051; longitude = -117.327867; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 482.150093; finalDepth = 478.608805; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:478.608805 # Seafloor depth:-518.608805 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 187 # Segment length 50.765818 meters # Minimum depth: 522.150093 meters looking forward 0.000000 meters along route # Maximum depth: 522.150093 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 482.150093 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.902087; longitude = -117.328401; captureRadius = 10; duration = 50; initialDepth = 487.712703; finalDepth = 482.150093; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:482.150093 # Seafloor depth:-522.150093 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 187 # Segment length 50.765818 meters # Minimum depth: 527.712703 meters looking forward 0.000000 meters along route # Maximum depth: 527.712703 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 487.712703 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.902131; longitude = -117.329042; captureRadius = 10; duration = 50; initialDepth = 484.382103; finalDepth = 487.712703; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:487.712703 # Seafloor depth:-527.712703 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 187 # Segment length 50.765818 meters # Minimum depth: 524.382103 meters looking forward 0.000000 meters along route # Maximum depth: 524.382103 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 484.382103 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.902174; longitude = -117.329683; captureRadius = 10; duration = 50; initialDepth = 490.165994; finalDepth = 484.382103; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:484.382103 # Seafloor depth:-524.382103 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 187 # Segment length 50.765818 meters # Minimum depth: 530.165994 meters looking forward 0.000000 meters along route # Maximum depth: 530.165994 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 490.165994 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.902218; longitude = -117.330324; captureRadius = 10; duration = 50; initialDepth = 495.928284; finalDepth = 490.165994; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:490.165994 # Seafloor depth:-530.165994 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 187 # Segment length 50.765818 meters # Minimum depth: 535.928284 meters looking forward 0.000000 meters along route # Maximum depth: 535.928284 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 495.928284 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.902261; longitude = -117.330965; captureRadius = 10; duration = 50; initialDepth = 497.388761; finalDepth = 495.928284; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:495.928284 # Seafloor depth:-535.928284 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 187 # Segment length 50.765818 meters # Minimum depth: 537.388761 meters looking forward 0.000000 meters along route # Maximum depth: 537.388761 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 497.388761 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.902305; longitude = -117.331606; captureRadius = 10; duration = 50; initialDepth = 495.965796; finalDepth = 497.388761; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:497.388761 # Seafloor depth:-537.388761 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 187 # Segment length 50.765818 meters # Minimum depth: 535.965796 meters looking forward 0.000000 meters along route # Maximum depth: 535.965796 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 495.965796 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.902349; longitude = -117.332247; captureRadius = 10; duration = 50; initialDepth = 490.386339; finalDepth = 495.965796; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:495.965796 # Seafloor depth:-535.965796 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 187 # Segment length 50.765818 meters # Minimum depth: 530.386339 meters looking forward 0.000000 meters along route # Maximum depth: 530.386339 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 490.386339 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.902392; longitude = -117.332887; captureRadius = 10; duration = 50; initialDepth = 494.564152; finalDepth = 490.386339; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:490.386339 # Seafloor depth:-530.386339 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 187 # Segment length 50.765818 meters # Minimum depth: 534.564152 meters looking forward 0.000000 meters along route # Maximum depth: 534.564152 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 494.564152 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.902436; longitude = -117.333528; captureRadius = 10; duration = 50; initialDepth = 474.677002; finalDepth = 494.564152; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:494.564152 # Seafloor depth:-534.564152 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 187 # Segment length 50.765818 meters # Minimum depth: 514.677002 meters looking forward 0.000000 meters along route # Maximum depth: 514.677002 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 474.677002 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.902479; longitude = -117.334169; captureRadius = 10; duration = 50; initialDepth = 477.280732; finalDepth = 474.677002; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:474.677002 # Seafloor depth:-514.677002 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 187 # Segment length 50.765818 meters # Minimum depth: 517.280732 meters looking forward 0.000000 meters along route # Maximum depth: 517.280732 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 477.280732 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.902523; longitude = -117.334810; captureRadius = 10; duration = 50; initialDepth = 480.780770; finalDepth = 477.280732; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:477.280732 # Seafloor depth:-517.280732 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 187 # Segment length 50.765818 meters # Minimum depth: 520.780770 meters looking forward 0.000000 meters along route # Maximum depth: 520.780770 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 480.780770 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.902566; longitude = -117.335451; captureRadius = 10; duration = 50; initialDepth = 482.206059; finalDepth = 480.780770; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:480.78077 # Seafloor depth:-520.780770 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 187 # Segment length 50.765818 meters # Minimum depth: 522.206059 meters looking forward 0.000000 meters along route # Maximum depth: 522.206059 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 482.206059 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.902610; longitude = -117.336092; captureRadius = 10; duration = 50; initialDepth = 483.799396; finalDepth = 482.206059; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:482.206059 # Seafloor depth:-522.206059 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 187 # Segment length 50.765818 meters # Minimum depth: 523.799396 meters looking forward 0.000000 meters along route # Maximum depth: 523.799396 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 483.799396 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.902654; longitude = -117.336733; captureRadius = 10; duration = 50; initialDepth = 488.952220; finalDepth = 483.799396; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:483.799396 # Seafloor depth:-523.799396 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 187 # Segment length 50.765818 meters # Minimum depth: 528.952220 meters looking forward 0.000000 meters along route # Maximum depth: 528.952220 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 488.952220 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.902697; longitude = -117.337374; captureRadius = 10; duration = 50; initialDepth = 488.240711; finalDepth = 488.952220; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:488.95222 # Seafloor depth:-528.952220 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 187 # Segment length 50.765818 meters # Minimum depth: 528.240711 meters looking forward 0.000000 meters along route # Maximum depth: 528.240711 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 488.240711 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.902741; longitude = -117.338015; captureRadius = 10; duration = 50; initialDepth = 497.580624; finalDepth = 488.240711; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:488.240711 # Seafloor depth:-528.240711 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 187 # Segment length 50.765818 meters # Minimum depth: 537.580624 meters looking forward 0.000000 meters along route # Maximum depth: 537.580624 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 497.580624 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.902784; longitude = -117.338656; captureRadius = 10; duration = 50; initialDepth = 499.131046; finalDepth = 497.580624; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:497.580624 # Seafloor depth:-537.580624 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 187 # Segment length 50.765818 meters # Minimum depth: 539.131046 meters looking forward 0.000000 meters along route # Maximum depth: 539.131046 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 499.131046 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.902828; longitude = -117.339297; captureRadius = 10; duration = 50; initialDepth = 501.122450; finalDepth = 499.131046; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:499.131046 # Seafloor depth:-539.131046 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 187 # Segment length 50.765818 meters # Minimum depth: 541.122450 meters looking forward 0.000000 meters along route # Maximum depth: 541.122450 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 501.122450 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.902871; longitude = -117.339938; captureRadius = 10; duration = 50; initialDepth = 504.284342; finalDepth = 501.122450; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:501.12245 # Seafloor depth:-541.122450 # 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 186 # Segment length 50.765818 meters # Minimum depth: 544.284342 meters looking forward 0.000000 meters along route # Maximum depth: 544.284342 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 504.284342 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.902908; longitude = -117.340472; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 504.781698; finalDepth = 504.284342; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:504.284342 # Seafloor depth:-544.284342 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 186 # Segment length 50.765818 meters # Minimum depth: 544.781698 meters looking forward 0.000000 meters along route # Maximum depth: 544.781698 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 504.781698 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.902975; longitude = -117.340579; captureRadius = 10; duration = 50; initialDepth = 505.872381; finalDepth = 504.781698; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:504.781698 # Seafloor depth:-544.781698 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 186 # Segment length 50.765818 meters # Minimum depth: 545.872381 meters looking forward 0.000000 meters along route # Maximum depth: 545.872381 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 505.872381 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.903280; longitude = -117.341059; captureRadius = 10; duration = 50; initialDepth = 507.843791; finalDepth = 505.872381; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:505.872381 # Seafloor depth:-545.872381 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 186 # Segment length 50.765818 meters # Minimum depth: 547.843791 meters looking forward 0.000000 meters along route # Maximum depth: 547.843791 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 507.843791 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.903584; longitude = -117.341540; captureRadius = 10; duration = 50; initialDepth = 507.605808; finalDepth = 507.843791; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:507.843791 # Seafloor depth:-547.843791 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 186 # Segment length 50.765818 meters # Minimum depth: 547.605808 meters looking forward 0.000000 meters along route # Maximum depth: 547.605808 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 507.605808 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.903900; longitude = -117.342039; captureRadius = 10; duration = 50; initialDepth = 507.554718; finalDepth = 507.605808; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:507.605808 # Seafloor depth:-547.605808 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 186 # Segment length 50.765818 meters # Minimum depth: 547.554718 meters looking forward 0.000000 meters along route # Maximum depth: 547.554718 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 507.554718 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.904193; longitude = -117.342501; captureRadius = 10; duration = 50; initialDepth = 506.557012; finalDepth = 507.554718; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:507.554718 # Seafloor depth:-547.554718 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 186 # Segment length 50.765818 meters # Minimum depth: 546.557012 meters looking forward 0.000000 meters along route # Maximum depth: 546.557012 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 506.557012 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.904498; longitude = -117.342982; captureRadius = 10; duration = 50; initialDepth = 505.513448; finalDepth = 506.557012; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:506.557012 # Seafloor depth:-546.557012 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 186 # Segment length 50.765818 meters # Minimum depth: 545.513448 meters looking forward 0.000000 meters along route # Maximum depth: 545.513448 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 505.513448 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.904802; longitude = -117.343463; captureRadius = 10; duration = 50; initialDepth = 506.990668; finalDepth = 505.513448; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:505.513448 # Seafloor depth:-545.513448 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 186 # Segment length 50.765818 meters # Minimum depth: 546.990668 meters looking forward 0.000000 meters along route # Maximum depth: 546.990668 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 506.990668 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.905118; longitude = -117.343961; captureRadius = 10; duration = 50; initialDepth = 509.121694; finalDepth = 506.990668; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:506.990668 # Seafloor depth:-546.990668 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 186 # Segment length 50.765818 meters # Minimum depth: 549.121694 meters looking forward 0.000000 meters along route # Maximum depth: 549.121694 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 509.121694 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.905411; longitude = -117.344424; captureRadius = 10; duration = 50; initialDepth = 512.826080; finalDepth = 509.121694; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:509.121694 # Seafloor depth:-549.121694 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 186 # Segment length 50.765818 meters # Minimum depth: 552.826080 meters looking forward 0.000000 meters along route # Maximum depth: 552.826080 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 512.826080 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.905715; longitude = -117.344905; captureRadius = 10; duration = 50; initialDepth = 515.336528; finalDepth = 512.826080; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:512.82608 # Seafloor depth:-552.826080 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 186 # Segment length 50.765818 meters # Minimum depth: 555.336528 meters looking forward 0.000000 meters along route # Maximum depth: 555.336528 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 515.336528 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.906020; longitude = -117.345386; captureRadius = 10; duration = 50; initialDepth = 517.453668; finalDepth = 515.336528; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:515.336528 # Seafloor depth:-555.336528 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 186 # Segment length 50.765818 meters # Minimum depth: 557.453668 meters looking forward 0.000000 meters along route # Maximum depth: 557.453668 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 517.453668 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.906336; longitude = -117.345884; captureRadius = 10; duration = 50; initialDepth = 520.339569; finalDepth = 517.453668; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:517.453668 # Seafloor depth:-557.453668 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 186 # Segment length 50.765818 meters # Minimum depth: 560.339569 meters looking forward 0.000000 meters along route # Maximum depth: 560.339569 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 520.339569 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.906629; longitude = -117.346347; captureRadius = 10; duration = 50; initialDepth = 522.848175; finalDepth = 520.339569; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:520.339569 # Seafloor depth:-560.339569 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 186 # Segment length 50.765818 meters # Minimum depth: 562.848175 meters looking forward 0.000000 meters along route # Maximum depth: 562.848175 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 522.848175 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.906933; longitude = -117.346828; captureRadius = 10; duration = 50; initialDepth = 523.131226; finalDepth = 522.848175; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:522.848175 # Seafloor depth:-562.848175 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 186 # Segment length 50.765818 meters # Minimum depth: 563.131226 meters looking forward 0.000000 meters along route # Maximum depth: 563.131226 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 523.131226 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.907238; longitude = -117.347308; captureRadius = 10; duration = 50; initialDepth = 522.197842; finalDepth = 523.131226; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:523.131226 # Seafloor depth:-563.131226 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 186 # Segment length 50.765818 meters # Minimum depth: 562.197842 meters looking forward 0.000000 meters along route # Maximum depth: 562.197842 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 522.197842 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.907553; longitude = -117.347807; captureRadius = 10; duration = 50; initialDepth = 523.715515; finalDepth = 522.197842; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:522.197842 # Seafloor depth:-562.197842 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 186 # Segment length 50.765818 meters # Minimum depth: 563.715515 meters looking forward 0.000000 meters along route # Maximum depth: 563.715515 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 523.715515 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.907847; longitude = -117.348270; captureRadius = 10; duration = 50; initialDepth = 525.514684; finalDepth = 523.715515; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:523.715515 # Seafloor depth:-563.715515 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 186 # Segment length 50.765818 meters # Minimum depth: 565.514684 meters looking forward 0.000000 meters along route # Maximum depth: 565.514684 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 525.514684 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.908151; longitude = -117.348751; captureRadius = 10; duration = 50; initialDepth = 527.737162; finalDepth = 525.514684; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:525.514684 # Seafloor depth:-565.514684 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 186 # Segment length 50.765818 meters # Minimum depth: 567.737162 meters looking forward 0.000000 meters along route # Maximum depth: 567.737162 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 527.737162 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.908456; longitude = -117.349231; captureRadius = 10; duration = 50; initialDepth = 530.352417; finalDepth = 527.737162; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:527.737162 # Seafloor depth:-567.737162 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 186 # Segment length 50.765818 meters # Minimum depth: 570.352417 meters looking forward 0.000000 meters along route # Maximum depth: 570.352417 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 530.352417 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.908771; longitude = -117.349730; captureRadius = 10; duration = 50; initialDepth = 539.809357; finalDepth = 530.352417; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:530.352417 # Seafloor depth:-570.352417 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 186 # Segment length 50.765818 meters # Minimum depth: 579.809357 meters looking forward 0.000000 meters along route # Maximum depth: 579.809357 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 539.809357 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.909064; longitude = -117.350193; captureRadius = 10; duration = 50; initialDepth = 537.252340; finalDepth = 539.809357; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:539.809357 # Seafloor depth:-579.809357 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 186 # Segment length 50.765818 meters # Minimum depth: 577.252340 meters looking forward 0.000000 meters along route # Maximum depth: 577.252340 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 537.252340 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.909369; longitude = -117.350673; captureRadius = 10; duration = 50; initialDepth = 530.970764; finalDepth = 537.252340; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:537.25234 # Seafloor depth:-577.252340 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 186 # Segment length 50.765818 meters # Minimum depth: 570.970764 meters looking forward 0.000000 meters along route # Maximum depth: 570.970764 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 530.970764 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.909673; longitude = -117.351154; captureRadius = 10; duration = 50; initialDepth = 531.452203; finalDepth = 530.970764; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:530.970764 # Seafloor depth:-570.970764 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 186 # Segment length 50.765818 meters # Minimum depth: 571.452203 meters looking forward 0.000000 meters along route # Maximum depth: 571.452203 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 531.452203 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.909989; longitude = -117.351653; captureRadius = 10; duration = 50; initialDepth = 532.441579; finalDepth = 531.452203; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:531.452203 # Seafloor depth:-571.452203 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 186 # Segment length 50.765818 meters # Minimum depth: 572.441579 meters looking forward 0.000000 meters along route # Maximum depth: 572.441579 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 532.441579 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.910282; longitude = -117.352116; captureRadius = 10; duration = 50; initialDepth = 534.652496; finalDepth = 532.441579; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:532.441579 # Seafloor depth:-572.441579 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 186 # Segment length 50.765818 meters # Minimum depth: 574.652496 meters looking forward 0.000000 meters along route # Maximum depth: 574.652496 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 534.652496 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.910587; longitude = -117.352596; captureRadius = 10; duration = 50; initialDepth = 535.947469; finalDepth = 534.652496; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:534.652496 # Seafloor depth:-574.652496 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 186 # Segment length 50.765818 meters # Minimum depth: 575.947469 meters looking forward 0.000000 meters along route # Maximum depth: 575.947469 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 535.947469 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.910891; longitude = -117.353077; captureRadius = 10; duration = 50; initialDepth = 536.501831; finalDepth = 535.947469; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:535.947469 # Seafloor depth:-575.947469 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 186 # Segment length 50.765818 meters # Minimum depth: 576.501831 meters looking forward 0.000000 meters along route # Maximum depth: 576.501831 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 536.501831 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911207; longitude = -117.353575; captureRadius = 10; duration = 50; initialDepth = 534.775848; finalDepth = 536.501831; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:536.501831 # Seafloor depth:-576.501831 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 186 # Segment length 50.765818 meters # Minimum depth: 574.775848 meters looking forward 0.000000 meters along route # Maximum depth: 574.775848 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 534.775848 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911500; longitude = -117.354038; captureRadius = 10; duration = 50; initialDepth = 531.591146; finalDepth = 534.775848; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:534.775848 # Seafloor depth:-574.775848 # 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 185 # Segment length 50.765818 meters # Minimum depth: 571.591146 meters looking forward 0.000000 meters along route # Maximum depth: 571.591146 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 531.591146 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911838; longitude = -117.354572; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 527.486385; finalDepth = 531.591146; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:531.591146 # Seafloor depth:-571.591146 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 185 # Segment length 50.765818 meters # Minimum depth: 567.486385 meters looking forward 0.000000 meters along route # Maximum depth: 567.486385 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 527.486385 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911843; longitude = -117.354839; captureRadius = 10; duration = 50; initialDepth = 527.652861; finalDepth = 527.486385; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:527.486385 # Seafloor depth:-567.486385 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 185 # Segment length 50.765818 meters # Minimum depth: 567.652861 meters looking forward 0.000000 meters along route # Maximum depth: 567.652861 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 527.652861 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911855; longitude = -117.355480; captureRadius = 10; duration = 50; initialDepth = 528.587562; finalDepth = 527.652861; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:527.652861 # Seafloor depth:-567.652861 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 185 # Segment length 50.765818 meters # Minimum depth: 568.587562 meters looking forward 0.000000 meters along route # Maximum depth: 568.587562 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 528.587562 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911866; longitude = -117.356121; captureRadius = 10; duration = 50; initialDepth = 530.075929; finalDepth = 528.587562; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:528.587562 # Seafloor depth:-568.587562 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 185 # Segment length 50.765818 meters # Minimum depth: 570.075929 meters looking forward 0.000000 meters along route # Maximum depth: 570.075929 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 530.075929 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911878; longitude = -117.356762; captureRadius = 10; duration = 50; initialDepth = 533.415504; finalDepth = 530.075929; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:530.075929 # Seafloor depth:-570.075929 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 185 # Segment length 50.765818 meters # Minimum depth: 573.415504 meters looking forward 0.000000 meters along route # Maximum depth: 573.415504 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 533.415504 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911889; longitude = -117.357403; captureRadius = 10; duration = 50; initialDepth = 532.425201; finalDepth = 533.415504; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:533.415504 # Seafloor depth:-573.415504 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 185 # Segment length 50.765818 meters # Minimum depth: 572.425201 meters looking forward 0.000000 meters along route # Maximum depth: 572.425201 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 532.425201 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911901; longitude = -117.358044; captureRadius = 10; duration = 50; initialDepth = 534.882391; finalDepth = 532.425201; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:532.425201 # Seafloor depth:-572.425201 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 185 # Segment length 50.765818 meters # Minimum depth: 574.882391 meters looking forward 0.000000 meters along route # Maximum depth: 574.882391 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 534.882391 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911912; longitude = -117.358685; captureRadius = 10; duration = 50; initialDepth = 536.150290; finalDepth = 534.882391; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:534.882391 # Seafloor depth:-574.882391 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 185 # Segment length 50.765818 meters # Minimum depth: 576.150290 meters looking forward 0.000000 meters along route # Maximum depth: 576.150290 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 536.150290 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911924; longitude = -117.359326; captureRadius = 10; duration = 50; initialDepth = 536.551906; finalDepth = 536.150290; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:536.15029 # Seafloor depth:-576.150290 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 185 # Segment length 50.765818 meters # Minimum depth: 576.551906 meters looking forward 0.000000 meters along route # Maximum depth: 576.551906 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 536.551906 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911935; longitude = -117.359967; captureRadius = 10; duration = 50; initialDepth = 537.649465; finalDepth = 536.551906; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:536.551906 # Seafloor depth:-576.551906 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 185 # Segment length 50.765818 meters # Minimum depth: 577.649465 meters looking forward 0.000000 meters along route # Maximum depth: 577.649465 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 537.649465 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911947; longitude = -117.360608; captureRadius = 10; duration = 50; initialDepth = 539.967539; finalDepth = 537.649465; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:537.649465 # Seafloor depth:-577.649465 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 185 # Segment length 50.765818 meters # Minimum depth: 579.967539 meters looking forward 0.000000 meters along route # Maximum depth: 579.967539 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 539.967539 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911958; longitude = -117.361249; captureRadius = 10; duration = 50; initialDepth = 542.501961; finalDepth = 539.967539; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:539.967539 # Seafloor depth:-579.967539 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 185 # Segment length 50.765818 meters # Minimum depth: 582.501961 meters looking forward 0.000000 meters along route # Maximum depth: 582.501961 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 542.501961 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911970; longitude = -117.361890; captureRadius = 10; duration = 50; initialDepth = 545.001222; finalDepth = 542.501961; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:542.501961 # Seafloor depth:-582.501961 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 185 # Segment length 50.765818 meters # Minimum depth: 585.001222 meters looking forward 0.000000 meters along route # Maximum depth: 585.001222 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 545.001222 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911981; longitude = -117.362531; captureRadius = 10; duration = 50; initialDepth = 548.261298; finalDepth = 545.001222; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:545.001222 # Seafloor depth:-585.001222 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 185 # Segment length 50.765818 meters # Minimum depth: 588.261298 meters looking forward 0.000000 meters along route # Maximum depth: 588.261298 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 548.261298 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911993; longitude = -117.363172; captureRadius = 10; duration = 50; initialDepth = 559.693639; finalDepth = 548.261298; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:548.261298 # Seafloor depth:-588.261298 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 185 # Segment length 50.765818 meters # Minimum depth: 599.693639 meters looking forward 0.000000 meters along route # Maximum depth: 599.693639 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 559.693639 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912004; longitude = -117.363813; captureRadius = 10; duration = 50; initialDepth = 561.584590; finalDepth = 559.693639; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:559.693639 # Seafloor depth:-599.693639 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 185 # Segment length 50.765818 meters # Minimum depth: 601.584590 meters looking forward 0.000000 meters along route # Maximum depth: 601.584590 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 561.584590 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912016; longitude = -117.364453; captureRadius = 10; duration = 50; initialDepth = 561.958455; finalDepth = 561.584590; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:561.58459 # Seafloor depth:-601.584590 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 185 # Segment length 50.765818 meters # Minimum depth: 601.958455 meters looking forward 0.000000 meters along route # Maximum depth: 601.958455 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 561.958455 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912027; longitude = -117.365094; captureRadius = 10; duration = 50; initialDepth = 563.437611; finalDepth = 561.958455; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:561.958455 # Seafloor depth:-601.958455 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 185 # Segment length 50.765818 meters # Minimum depth: 603.437611 meters looking forward 0.000000 meters along route # Maximum depth: 603.437611 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 563.437611 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912039; longitude = -117.365735; captureRadius = 10; duration = 50; initialDepth = 563.222853; finalDepth = 563.437611; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:563.437611 # Seafloor depth:-603.437611 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 185 # Segment length 50.765818 meters # Minimum depth: 603.222853 meters looking forward 0.000000 meters along route # Maximum depth: 603.222853 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 563.222853 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912050; longitude = -117.366376; captureRadius = 10; duration = 50; initialDepth = 563.780286; finalDepth = 563.222853; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:563.222853 # Seafloor depth:-603.222853 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 185 # Segment length 50.765818 meters # Minimum depth: 603.780286 meters looking forward 0.000000 meters along route # Maximum depth: 603.780286 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 563.780286 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912062; longitude = -117.367017; captureRadius = 10; duration = 50; initialDepth = 559.916251; finalDepth = 563.780286; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:563.780286 # Seafloor depth:-603.780286 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 185 # Segment length 50.765818 meters # Minimum depth: 599.916251 meters looking forward 0.000000 meters along route # Maximum depth: 599.916251 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 559.916251 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912073; longitude = -117.367658; captureRadius = 10; duration = 50; initialDepth = 559.218990; finalDepth = 559.916251; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:559.916251 # Seafloor depth:-599.916251 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 185 # Segment length 50.765818 meters # Minimum depth: 599.218990 meters looking forward 0.000000 meters along route # Maximum depth: 599.218990 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 559.218990 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912085; longitude = -117.368299; captureRadius = 10; duration = 50; initialDepth = 559.475333; finalDepth = 559.218990; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:559.21899 # Seafloor depth:-599.218990 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 185 # Segment length 50.765818 meters # Minimum depth: 599.475333 meters looking forward 0.000000 meters along route # Maximum depth: 599.475333 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 559.475333 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912096; longitude = -117.368940; captureRadius = 10; duration = 50; initialDepth = 560.234985; finalDepth = 559.475333; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:559.475333 # Seafloor depth:-599.475333 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 185 # Segment length 50.765818 meters # Minimum depth: 600.234985 meters looking forward 0.000000 meters along route # Maximum depth: 600.234985 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 560.234985 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912108; longitude = -117.369581; captureRadius = 10; duration = 50; initialDepth = 561.890217; finalDepth = 560.234985; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:560.234985 # Seafloor depth:-600.234985 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 185 # Segment length 50.765818 meters # Minimum depth: 601.890217 meters looking forward 0.000000 meters along route # Maximum depth: 601.890217 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 561.890217 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912119; longitude = -117.370222; captureRadius = 10; duration = 50; initialDepth = 566.511799; finalDepth = 561.890217; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:561.890217 # Seafloor depth:-601.890217 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 185 # Segment length 50.765818 meters # Minimum depth: 606.511799 meters looking forward 0.000000 meters along route # Maximum depth: 606.511799 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 566.511799 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912131; longitude = -117.370863; captureRadius = 10; duration = 50; initialDepth = 572.584371; finalDepth = 566.511799; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:566.511799 # Seafloor depth:-606.511799 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 185 # Segment length 50.765818 meters # Minimum depth: 612.584371 meters looking forward 0.000000 meters along route # Maximum depth: 612.584371 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 572.584371 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912142; longitude = -117.371504; captureRadius = 10; duration = 50; initialDepth = 577.275149; finalDepth = 572.584371; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:572.584371 # Seafloor depth:-612.584371 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 185 # Segment length 50.765818 meters # Minimum depth: 617.275149 meters looking forward 0.000000 meters along route # Maximum depth: 617.275149 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 577.275149 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912154; longitude = -117.372152; captureRadius = 10; duration = 50; initialDepth = 573.574093; finalDepth = 577.275149; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:577.275149 # Seafloor depth:-617.275149 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 185 # Segment length 50.765818 meters # Minimum depth: 613.574093 meters looking forward 0.000000 meters along route # Maximum depth: 613.574093 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 573.574093 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912165; longitude = -117.372786; captureRadius = 10; duration = 50; initialDepth = 573.809321; finalDepth = 573.574093; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:573.574093 # Seafloor depth:-613.574093 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 185 # Segment length 50.765818 meters # Minimum depth: 613.809321 meters looking forward 0.000000 meters along route # Maximum depth: 613.809321 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 573.809321 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912177; longitude = -117.373427; captureRadius = 10; duration = 50; initialDepth = 567.600765; finalDepth = 573.809321; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:573.809321 # Seafloor depth:-613.809321 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 185 # Segment length 50.765818 meters # Minimum depth: 607.600765 meters looking forward 0.000000 meters along route # Maximum depth: 607.600765 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 567.600765 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912188; longitude = -117.374068; captureRadius = 10; duration = 50; initialDepth = 570.747009; finalDepth = 567.600765; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:567.600765 # Seafloor depth:-607.600765 # 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 184 # Segment length 50.765818 meters # Minimum depth: 610.747009 meters looking forward 0.000000 meters along route # Maximum depth: 610.747009 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 570.747009 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912199; longitude = -117.374655; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 572.081504; finalDepth = 570.747009; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:570.747009 # Seafloor depth:-610.747009 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 184 # Segment length 50.765818 meters # Minimum depth: 612.081504 meters looking forward 0.000000 meters along route # Maximum depth: 612.081504 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 572.081504 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912289; longitude = -117.374778; captureRadius = 10; duration = 50; initialDepth = 573.365339; finalDepth = 572.081504; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:572.081504 # Seafloor depth:-612.081504 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 184 # Segment length 50.765818 meters # Minimum depth: 613.365339 meters looking forward 0.000000 meters along route # Maximum depth: 613.365339 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 573.365339 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912591; longitude = -117.375189; captureRadius = 10; duration = 50; initialDepth = 575.693906; finalDepth = 573.365339; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:573.365339 # Seafloor depth:-613.365339 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 184 # Segment length 50.765818 meters # Minimum depth: 615.693906 meters looking forward 0.000000 meters along route # Maximum depth: 615.693906 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 575.693906 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912966; longitude = -117.375699; captureRadius = 10; duration = 50; initialDepth = 575.013284; finalDepth = 575.693906; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:575.693906 # Seafloor depth:-615.693906 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 184 # Segment length 50.765818 meters # Minimum depth: 615.013284 meters looking forward 0.000000 meters along route # Maximum depth: 615.013284 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 575.013284 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913298; longitude = -117.376151; captureRadius = 10; duration = 50; initialDepth = 574.525496; finalDepth = 575.013284; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:575.013284 # Seafloor depth:-615.013284 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 184 # Segment length 50.765818 meters # Minimum depth: 614.525496 meters looking forward 0.000000 meters along route # Maximum depth: 614.525496 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 574.525496 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913651; longitude = -117.376631; captureRadius = 10; duration = 50; initialDepth = 574.499149; finalDepth = 574.525496; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:574.525496 # Seafloor depth:-614.525496 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 184 # Segment length 50.765818 meters # Minimum depth: 614.499149 meters looking forward 0.000000 meters along route # Maximum depth: 614.499149 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 574.499149 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914048; longitude = -117.377173; captureRadius = 10; duration = 50; initialDepth = 575.322528; finalDepth = 574.499149; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:574.499149 # Seafloor depth:-614.499149 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 184 # Segment length 50.765818 meters # Minimum depth: 615.322528 meters looking forward 0.000000 meters along route # Maximum depth: 615.322528 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 575.322528 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914357; longitude = -117.377593; captureRadius = 10; duration = 50; initialDepth = 574.798323; finalDepth = 575.322528; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:575.322528 # Seafloor depth:-615.322528 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 184 # Segment length 50.765818 meters # Minimum depth: 614.798323 meters looking forward 0.000000 meters along route # Maximum depth: 614.798323 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 574.798323 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914725; longitude = -117.378094; captureRadius = 10; duration = 50; initialDepth = 575.834993; finalDepth = 574.798323; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:574.798323 # Seafloor depth:-614.798323 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 184 # Segment length 50.765818 meters # Minimum depth: 615.834993 meters looking forward 0.000000 meters along route # Maximum depth: 615.834993 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 575.834993 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915063; longitude = -117.378554; captureRadius = 10; duration = 50; initialDepth = 575.895963; finalDepth = 575.834993; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:575.834993 # Seafloor depth:-615.834993 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 184 # Segment length 50.765818 meters # Minimum depth: 615.895963 meters looking forward 0.000000 meters along route # Maximum depth: 615.895963 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 575.895963 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915416; longitude = -117.379035; captureRadius = 10; duration = 50; initialDepth = 577.638614; finalDepth = 575.895963; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:575.895963 # Seafloor depth:-615.895963 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 184 # Segment length 50.765818 meters # Minimum depth: 617.638614 meters looking forward 0.000000 meters along route # Maximum depth: 617.638614 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 577.638614 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915807; longitude = -117.379567; captureRadius = 10; duration = 50; initialDepth = 576.763516; finalDepth = 577.638614; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:577.638614 # Seafloor depth:-617.638614 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 184 # Segment length 50.765818 meters # Minimum depth: 616.763516 meters looking forward 0.000000 meters along route # Maximum depth: 616.763516 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 576.763516 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.916122; longitude = -117.379996; captureRadius = 10; duration = 50; initialDepth = 575.999747; finalDepth = 576.763516; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:576.763516 # Seafloor depth:-616.763516 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 184 # Segment length 50.765818 meters # Minimum depth: 615.999747 meters looking forward 0.000000 meters along route # Maximum depth: 615.999747 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 575.999747 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.916484; longitude = -117.380489; captureRadius = 10; duration = 50; initialDepth = 573.274005; finalDepth = 575.999747; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:575.999747 # Seafloor depth:-615.999747 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 184 # Segment length 50.765818 meters # Minimum depth: 613.274005 meters looking forward 0.000000 meters along route # Maximum depth: 613.274005 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 573.274005 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.916829; longitude = -117.380958; captureRadius = 10; duration = 50; initialDepth = 566.953482; finalDepth = 573.274005; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:573.274005 # Seafloor depth:-613.274005 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 184 # Segment length 50.765818 meters # Minimum depth: 606.953482 meters looking forward 0.000000 meters along route # Maximum depth: 606.953482 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 566.953482 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.917182; longitude = -117.381438; captureRadius = 10; duration = 50; initialDepth = 569.604070; finalDepth = 566.953482; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:566.953482 # Seafloor depth:-606.953482 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 184 # Segment length 50.765818 meters # Minimum depth: 609.604070 meters looking forward 0.000000 meters along route # Maximum depth: 609.604070 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 569.604070 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.917566; longitude = -117.381962; captureRadius = 10; duration = 50; initialDepth = 571.748871; finalDepth = 569.604070; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:569.60407 # Seafloor depth:-609.604070 # 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 183 # Segment length 50.765818 meters # Minimum depth: 611.748871 meters looking forward 0.000000 meters along route # Maximum depth: 611.748871 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 571.748871 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.917927; longitude = -117.382453; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 571.916386; finalDepth = 571.748871; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:571.748871 # Seafloor depth:-611.748871 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 183 # Segment length 50.765818 meters # Minimum depth: 611.916386 meters looking forward 0.000000 meters along route # Maximum depth: 611.916386 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 571.916386 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.917904; longitude = -117.382560; captureRadius = 10; duration = 50; initialDepth = 573.834805; finalDepth = 571.916386; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:571.916386 # Seafloor depth:-611.916386 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 183 # Segment length 50.765818 meters # Minimum depth: 613.834805 meters looking forward 0.000000 meters along route # Maximum depth: 613.834805 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 573.834805 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.917765; longitude = -117.383201; captureRadius = 10; duration = 50; initialDepth = 575.451151; finalDepth = 573.834805; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:573.834805 # Seafloor depth:-613.834805 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 183 # Segment length 50.765818 meters # Minimum depth: 615.451151 meters looking forward 0.000000 meters along route # Maximum depth: 615.451151 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 575.451151 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.917627; longitude = -117.383842; captureRadius = 10; duration = 50; initialDepth = 578.314666; finalDepth = 575.451151; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:575.451151 # Seafloor depth:-615.451151 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 183 # Segment length 50.765818 meters # Minimum depth: 618.314666 meters looking forward 0.000000 meters along route # Maximum depth: 618.314666 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 578.314666 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.917488; longitude = -117.384483; captureRadius = 10; duration = 50; initialDepth = 580.991166; finalDepth = 578.314666; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:578.314666 # Seafloor depth:-618.314666 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 183 # Segment length 50.765818 meters # Minimum depth: 620.991166 meters looking forward 0.000000 meters along route # Maximum depth: 620.991166 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 580.991166 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.917349; longitude = -117.385124; captureRadius = 10; duration = 50; initialDepth = 580.690090; finalDepth = 580.991166; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:580.991166 # Seafloor depth:-620.991166 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 183 # Segment length 50.765818 meters # Minimum depth: 620.690090 meters looking forward 0.000000 meters along route # Maximum depth: 620.690090 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 580.690090 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.917211; longitude = -117.385765; captureRadius = 10; duration = 50; initialDepth = 579.821014; finalDepth = 580.690090; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:580.69009 # Seafloor depth:-620.690090 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 183 # Segment length 50.765818 meters # Minimum depth: 619.821014 meters looking forward 0.000000 meters along route # Maximum depth: 619.821014 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 579.821014 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.917072; longitude = -117.386406; captureRadius = 10; duration = 50; initialDepth = 581.495452; finalDepth = 579.821014; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:579.821014 # Seafloor depth:-619.821014 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 183 # Segment length 50.765818 meters # Minimum depth: 621.495452 meters looking forward 0.000000 meters along route # Maximum depth: 621.495452 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 581.495452 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.916933; longitude = -117.387046; captureRadius = 10; duration = 50; initialDepth = 577.593668; finalDepth = 581.495452; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:581.495452 # Seafloor depth:-621.495452 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 183 # Segment length 50.765818 meters # Minimum depth: 617.593668 meters looking forward 0.000000 meters along route # Maximum depth: 617.593668 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 577.593668 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.916795; longitude = -117.387687; captureRadius = 10; duration = 50; initialDepth = 579.289448; finalDepth = 577.593668; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:577.593668 # Seafloor depth:-617.593668 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 183 # Segment length 50.765818 meters # Minimum depth: 619.289448 meters looking forward 0.000000 meters along route # Maximum depth: 619.289448 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 579.289448 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.916656; longitude = -117.388328; captureRadius = 10; duration = 50; initialDepth = 584.693604; finalDepth = 579.289448; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:579.289448 # Seafloor depth:-619.289448 # 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 182 # Segment length 50.765818 meters # Minimum depth: 624.693604 meters looking forward 0.000000 meters along route # Maximum depth: 624.693604 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 584.693604 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.916529; longitude = -117.388916; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 589.754602; finalDepth = 584.693604; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:584.693604 # Seafloor depth:-624.693604 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 182 # Segment length 50.765818 meters # Minimum depth: 629.754602 meters looking forward 0.000000 meters along route # Maximum depth: 629.754602 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 589.754602 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.916429; longitude = -117.389450; captureRadius = 10; duration = 50; initialDepth = 593.229026; finalDepth = 589.754602; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:589.754602 # Seafloor depth:-629.754602 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 182 # Segment length 50.765818 meters # Minimum depth: 633.229026 meters looking forward 0.000000 meters along route # Maximum depth: 633.229026 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 593.229026 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.916308; longitude = -117.390091; captureRadius = 10; duration = 50; initialDepth = 595.870603; finalDepth = 593.229026; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:593.229026 # Seafloor depth:-633.229026 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 182 # Segment length 50.765818 meters # Minimum depth: 635.870603 meters looking forward 0.000000 meters along route # Maximum depth: 635.870603 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 595.870603 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.916188; longitude = -117.390732; captureRadius = 10; duration = 50; initialDepth = 598.084242; finalDepth = 595.870603; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:595.870603 # Seafloor depth:-635.870603 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 182 # Segment length 50.765818 meters # Minimum depth: 638.084242 meters looking forward 0.000000 meters along route # Maximum depth: 638.084242 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 598.084242 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.916078; longitude = -117.391318; captureRadius = 10; duration = 50; initialDepth = 600.506918; finalDepth = 598.084242; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:598.084242 # Seafloor depth:-638.084242 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 182 # Segment length 50.765818 meters # Minimum depth: 640.506918 meters looking forward 0.000000 meters along route # Maximum depth: 640.506918 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 600.506918 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915978; longitude = -117.391853; captureRadius = 10; duration = 50; initialDepth = 597.654512; finalDepth = 600.506918; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:600.506918 # Seafloor depth:-640.506918 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 182 # Segment length 50.765818 meters # Minimum depth: 637.654512 meters looking forward 0.000000 meters along route # Maximum depth: 637.654512 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 597.654512 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915857; longitude = -117.392494; captureRadius = 10; duration = 50; initialDepth = 596.946159; finalDepth = 597.654512; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:597.654512 # Seafloor depth:-637.654512 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 182 # Segment length 50.765818 meters # Minimum depth: 636.946159 meters looking forward 0.000000 meters along route # Maximum depth: 636.946159 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 596.946159 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915737; longitude = -117.393135; captureRadius = 10; duration = 50; initialDepth = 600.992963; finalDepth = 596.946159; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:596.946159 # Seafloor depth:-636.946159 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 182 # Segment length 50.765818 meters # Minimum depth: 640.992963 meters looking forward 0.000000 meters along route # Maximum depth: 640.992963 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 600.992963 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915617; longitude = -117.393776; captureRadius = 10; duration = 50; initialDepth = 601.469142; finalDepth = 600.992963; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:600.992963 # Seafloor depth:-640.992963 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 182 # Segment length 50.765818 meters # Minimum depth: 641.469142 meters looking forward 0.000000 meters along route # Maximum depth: 641.469142 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 601.469142 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915496; longitude = -117.394417; captureRadius = 10; duration = 50; initialDepth = 612.762872; finalDepth = 601.469142; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:601.469142 # Seafloor depth:-641.469142 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 182 # Segment length 50.765818 meters # Minimum depth: 652.762872 meters looking forward 0.000000 meters along route # Maximum depth: 652.762872 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 612.762872 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915376; longitude = -117.395058; captureRadius = 10; duration = 50; initialDepth = 614.123904; finalDepth = 612.762872; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:612.762872 # Seafloor depth:-652.762872 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 182 # Segment length 50.765818 meters # Minimum depth: 654.123904 meters looking forward 0.000000 meters along route # Maximum depth: 654.123904 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 614.123904 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915256; longitude = -117.395699; captureRadius = 10; duration = 50; initialDepth = 615.187480; finalDepth = 614.123904; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:614.123904 # Seafloor depth:-654.123904 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 182 # Segment length 50.765818 meters # Minimum depth: 655.187480 meters looking forward 0.000000 meters along route # Maximum depth: 655.187480 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 615.187480 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915131; longitude = -117.396365; captureRadius = 10; duration = 50; initialDepth = 613.091948; finalDepth = 615.187480; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:615.18748 # Seafloor depth:-655.187480 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 182 # Segment length 50.765818 meters # Minimum depth: 653.091948 meters looking forward 0.000000 meters along route # Maximum depth: 653.091948 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 613.091948 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915015; longitude = -117.396981; captureRadius = 10; duration = 50; initialDepth = 607.524078; finalDepth = 613.091948; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:613.091948 # Seafloor depth:-653.091948 # 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 181 # Segment length 50.765818 meters # Minimum depth: 647.524078 meters looking forward 0.000000 meters along route # Maximum depth: 647.524078 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 607.524078 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914905; longitude = -117.397568; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 608.812619; finalDepth = 607.524078; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:607.524078 # Seafloor depth:-647.524078 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 181 # Segment length 50.765818 meters # Minimum depth: 648.812619 meters looking forward 0.000000 meters along route # Maximum depth: 648.812619 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 608.812619 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915131; longitude = -117.397538; captureRadius = 10; duration = 50; initialDepth = 615.218510; finalDepth = 608.812619; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:608.812619 # Seafloor depth:-648.812619 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 181 # Segment length 50.765818 meters # Minimum depth: 655.218510 meters looking forward 0.000000 meters along route # Maximum depth: 655.218510 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 615.218510 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915672; longitude = -117.397467; captureRadius = 10; duration = 50; initialDepth = 616.046829; finalDepth = 615.218510; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:615.21851 # Seafloor depth:-655.218510 # 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 180 # Segment length 50.765818 meters # Minimum depth: 656.046829 meters looking forward 0.000000 meters along route # Maximum depth: 656.046829 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 616.046829 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.916123; longitude = -117.397408; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 616.739988; finalDepth = 616.046829; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:616.046829 # Seafloor depth:-656.046829 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 180 # Segment length 50.765818 meters # Minimum depth: 656.739988 meters looking forward 0.000000 meters along route # Maximum depth: 656.739988 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 616.739988 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.916176; longitude = -117.397141; captureRadius = 10; duration = 50; initialDepth = 616.644904; finalDepth = 616.739988; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:616.739988 # Seafloor depth:-656.739988 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 180 # Segment length 50.765818 meters # Minimum depth: 656.644904 meters looking forward 0.000000 meters along route # Maximum depth: 656.644904 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 616.644904 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.916304; longitude = -117.396500; captureRadius = 10; duration = 50; initialDepth = 614.679466; finalDepth = 616.644904; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:616.644904 # Seafloor depth:-656.644904 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 180 # Segment length 50.765818 meters # Minimum depth: 654.679466 meters looking forward 0.000000 meters along route # Maximum depth: 654.679466 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 614.679466 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.916431; longitude = -117.395859; captureRadius = 10; duration = 50; initialDepth = 603.989335; finalDepth = 614.679466; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:614.679466 # Seafloor depth:-654.679466 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 180 # Segment length 50.765818 meters # Minimum depth: 643.989335 meters looking forward 0.000000 meters along route # Maximum depth: 643.989335 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 603.989335 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.916559; longitude = -117.395218; captureRadius = 10; duration = 50; initialDepth = 604.149379; finalDepth = 603.989335; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:603.989335 # Seafloor depth:-643.989335 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 180 # Segment length 50.765818 meters # Minimum depth: 644.149379 meters looking forward 0.000000 meters along route # Maximum depth: 644.149379 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 604.149379 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.916686; longitude = -117.394577; captureRadius = 10; duration = 50; initialDepth = 603.981070; finalDepth = 604.149379; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:604.149379 # Seafloor depth:-644.149379 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 180 # Segment length 50.765818 meters # Minimum depth: 643.981070 meters looking forward 0.000000 meters along route # Maximum depth: 643.981070 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 603.981070 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.916814; longitude = -117.393936; captureRadius = 10; duration = 50; initialDepth = 606.622568; finalDepth = 603.981070; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:603.98107 # Seafloor depth:-643.981070 # 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 180 # Segment length 50.765818 meters # Minimum depth: 646.622568 meters looking forward 0.000000 meters along route # Maximum depth: 646.622568 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 606.622568 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.916942; longitude = -117.393296; captureRadius = 10; duration = 50; initialDepth = 605.085411; finalDepth = 606.622568; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:606.622568 # Seafloor depth:-646.622568 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 180 # Segment length 50.765818 meters # Minimum depth: 645.085411 meters looking forward 0.000000 meters along route # Maximum depth: 645.085411 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 605.085411 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.917069; longitude = -117.392655; captureRadius = 10; duration = 50; initialDepth = 600.036770; finalDepth = 605.085411; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:605.085411 # Seafloor depth:-645.085411 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 180 # Segment length 50.765818 meters # Minimum depth: 640.036770 meters looking forward 0.000000 meters along route # Maximum depth: 640.036770 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 600.036770 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.917197; longitude = -117.392014; captureRadius = 10; duration = 50; initialDepth = 595.477461; finalDepth = 600.036770; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:600.03677 # Seafloor depth:-640.036770 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 180 # Segment length 50.765818 meters # Minimum depth: 635.477461 meters looking forward 0.000000 meters along route # Maximum depth: 635.477461 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 595.477461 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.917324; longitude = -117.391373; captureRadius = 10; duration = 50; initialDepth = 593.321463; finalDepth = 595.477461; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:595.477461 # Seafloor depth:-635.477461 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 180 # Segment length 50.765818 meters # Minimum depth: 633.321463 meters looking forward 0.000000 meters along route # Maximum depth: 633.321463 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 593.321463 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.917452; longitude = -117.390732; captureRadius = 10; duration = 50; initialDepth = 593.338971; finalDepth = 593.321463; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:593.321463 # Seafloor depth:-633.321463 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 180 # Segment length 50.765818 meters # Minimum depth: 633.338971 meters looking forward 0.000000 meters along route # Maximum depth: 633.338971 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 593.338971 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.917566; longitude = -117.390156; captureRadius = 10; duration = 50; initialDepth = 591.514904; finalDepth = 593.338971; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:593.338971 # Seafloor depth:-633.338971 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 180 # Segment length 50.765818 meters # Minimum depth: 631.514904 meters looking forward 0.000000 meters along route # Maximum depth: 631.514904 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 591.514904 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.917675; longitude = -117.389610; captureRadius = 10; duration = 50; initialDepth = 586.121246; finalDepth = 591.514904; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:591.514904 # Seafloor depth:-631.514904 # 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 179 # Segment length 50.765818 meters # Minimum depth: 626.121246 meters looking forward 0.000000 meters along route # Maximum depth: 626.121246 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 586.121246 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.917792; longitude = -117.389023; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 581.917580; finalDepth = 586.121246; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:586.121246 # Seafloor depth:-626.121246 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 179 # Segment length 50.765818 meters # Minimum depth: 621.917580 meters looking forward 0.000000 meters along route # Maximum depth: 621.917580 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 581.917580 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.917639; longitude = -117.388489; captureRadius = 10; duration = 50; initialDepth = 578.915879; finalDepth = 581.917580; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:581.91758 # Seafloor depth:-621.917580 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 179 # Segment length 50.765818 meters # Minimum depth: 618.915879 meters looking forward 0.000000 meters along route # Maximum depth: 618.915879 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 578.915879 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.917456; longitude = -117.387848; captureRadius = 10; duration = 50; initialDepth = 581.659670; finalDepth = 578.915879; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:578.915879 # Seafloor depth:-618.915879 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 179 # Segment length 50.765818 meters # Minimum depth: 621.659670 meters looking forward 0.000000 meters along route # Maximum depth: 621.659670 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 581.659670 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.917296; longitude = -117.387287; captureRadius = 10; duration = 50; initialDepth = 580.239626; finalDepth = 581.659670; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:581.65967 # Seafloor depth:-621.659670 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 179 # Segment length 50.765818 meters # Minimum depth: 620.239626 meters looking forward 0.000000 meters along route # Maximum depth: 620.239626 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 580.239626 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.917136; longitude = -117.386726; captureRadius = 10; duration = 50; initialDepth = 580.162789; finalDepth = 580.239626; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:580.239626 # Seafloor depth:-620.239626 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 179 # Segment length 50.765818 meters # Minimum depth: 620.162789 meters looking forward 0.000000 meters along route # Maximum depth: 620.162789 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 580.162789 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.916953; longitude = -117.386085; captureRadius = 10; duration = 50; initialDepth = 580.461395; finalDepth = 580.162789; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:580.162789 # Seafloor depth:-620.162789 # 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 178 # Segment length 50.765818 meters # Minimum depth: 620.461395 meters looking forward 0.000000 meters along route # Maximum depth: 620.461395 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 580.461395 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.916800; longitude = -117.385551; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 581.112240; finalDepth = 580.461395; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:580.461395 # Seafloor depth:-620.461395 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 178 # Segment length 50.765818 meters # Minimum depth: 621.112240 meters looking forward 0.000000 meters along route # Maximum depth: 621.112240 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 581.112240 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.916755; longitude = -117.385382; captureRadius = 10; duration = 50; initialDepth = 581.123892; finalDepth = 581.112240; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:581.11224 # Seafloor depth:-621.112240 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 178 # Segment length 50.765818 meters # Minimum depth: 621.123892 meters looking forward 0.000000 meters along route # Maximum depth: 621.123892 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 581.123892 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.916600; longitude = -117.384803; captureRadius = 10; duration = 50; initialDepth = 578.604073; finalDepth = 581.123892; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:581.123892 # Seafloor depth:-621.123892 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 178 # Segment length 50.765818 meters # Minimum depth: 618.604073 meters looking forward 0.000000 meters along route # Maximum depth: 618.604073 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 578.604073 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.916428; longitude = -117.384162; captureRadius = 10; duration = 50; initialDepth = 577.428735; finalDepth = 578.604073; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:578.604073 # Seafloor depth:-618.604073 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 178 # Segment length 50.765818 meters # Minimum depth: 617.428735 meters looking forward 0.000000 meters along route # Maximum depth: 617.428735 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 577.428735 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.916256; longitude = -117.383521; captureRadius = 10; duration = 50; initialDepth = 583.143689; finalDepth = 577.428735; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:577.428735 # Seafloor depth:-617.428735 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 178 # Segment length 50.765818 meters # Minimum depth: 623.143689 meters looking forward 0.000000 meters along route # Maximum depth: 623.143689 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 583.143689 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.916085; longitude = -117.382880; captureRadius = 10; duration = 50; initialDepth = 580.908049; finalDepth = 583.143689; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:583.143689 # Seafloor depth:-623.143689 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 178 # Segment length 50.765818 meters # Minimum depth: 620.908049 meters looking forward 0.000000 meters along route # Maximum depth: 620.908049 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 580.908049 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915943; longitude = -117.382350; captureRadius = 10; duration = 50; initialDepth = 579.990242; finalDepth = 580.908049; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:580.908049 # Seafloor depth:-620.908049 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 178 # Segment length 50.765818 meters # Minimum depth: 619.990242 meters looking forward 0.000000 meters along route # Maximum depth: 619.990242 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 579.990242 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915784; longitude = -117.381759; captureRadius = 10; duration = 50; initialDepth = 579.074646; finalDepth = 579.990242; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:579.990242 # Seafloor depth:-619.990242 # 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 177 # Segment length 50.765818 meters # Minimum depth: 619.074646 meters looking forward 0.000000 meters along route # Maximum depth: 619.074646 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 579.074646 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915627; longitude = -117.381171; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 578.560030; finalDepth = 579.074646; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:579.074646 # Seafloor depth:-619.074646 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 177 # Segment length 50.765818 meters # Minimum depth: 618.560030 meters looking forward 0.000000 meters along route # Maximum depth: 618.560030 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 578.560030 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915619; longitude = -117.381118; captureRadius = 10; duration = 50; initialDepth = 577.890022; finalDepth = 578.560030; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:578.56003 # Seafloor depth:-618.560030 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 177 # Segment length 50.765818 meters # Minimum depth: 617.890022 meters looking forward 0.000000 meters along route # Maximum depth: 617.890022 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 577.890022 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915537; longitude = -117.380557; captureRadius = 10; duration = 50; initialDepth = 576.967505; finalDepth = 577.890022; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:577.890022 # Seafloor depth:-617.890022 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 177 # Segment length 50.765818 meters # Minimum depth: 616.967505 meters looking forward 0.000000 meters along route # Maximum depth: 616.967505 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 576.967505 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915455; longitude = -117.379996; captureRadius = 10; duration = 50; initialDepth = 576.059573; finalDepth = 576.967505; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:576.967505 # Seafloor depth:-616.967505 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 177 # Segment length 50.765818 meters # Minimum depth: 616.059573 meters looking forward 0.000000 meters along route # Maximum depth: 616.059573 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 576.059573 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915360; longitude = -117.379355; captureRadius = 10; duration = 50; initialDepth = 576.202421; finalDepth = 576.059573; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:576.059573 # Seafloor depth:-616.059573 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 177 # Segment length 50.765818 meters # Minimum depth: 616.202421 meters looking forward 0.000000 meters along route # Maximum depth: 616.202421 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 576.202421 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915266; longitude = -117.378713; captureRadius = 10; duration = 50; initialDepth = 574.733900; finalDepth = 576.202421; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:576.202421 # Seafloor depth:-616.202421 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 177 # Segment length 50.765818 meters # Minimum depth: 614.733900 meters looking forward 0.000000 meters along route # Maximum depth: 614.733900 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 574.733900 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915172; longitude = -117.378073; captureRadius = 10; duration = 50; initialDepth = 573.322638; finalDepth = 574.733900; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:574.7339 # Seafloor depth:-614.733900 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 177 # Segment length 50.765818 meters # Minimum depth: 613.322638 meters looking forward 0.000000 meters along route # Maximum depth: 613.322638 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 573.322638 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915078; longitude = -117.377432; captureRadius = 10; duration = 50; initialDepth = 573.191167; finalDepth = 573.322638; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:573.322638 # Seafloor depth:-613.322638 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 177 # Segment length 50.765818 meters # Minimum depth: 613.191167 meters looking forward 0.000000 meters along route # Maximum depth: 613.191167 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 573.191167 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914996; longitude = -117.376870; captureRadius = 10; duration = 50; initialDepth = 573.625131; finalDepth = 573.191167; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:573.191167 # Seafloor depth:-613.191167 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 177 # Segment length 50.765818 meters # Minimum depth: 613.625131 meters looking forward 0.000000 meters along route # Maximum depth: 613.625131 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 573.625131 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914914; longitude = -117.376311; captureRadius = 10; duration = 50; initialDepth = 573.173712; finalDepth = 573.625131; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:573.625131 # Seafloor depth:-613.625131 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 177 # Segment length 50.765818 meters # Minimum depth: 613.173712 meters looking forward 0.000000 meters along route # Maximum depth: 613.173712 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 573.173712 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914819; longitude = -117.375670; captureRadius = 10; duration = 50; initialDepth = 572.861361; finalDepth = 573.173712; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:573.173712 # Seafloor depth:-613.173712 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 177 # Segment length 50.765818 meters # Minimum depth: 612.861361 meters looking forward 0.000000 meters along route # Maximum depth: 612.861361 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 572.861361 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914725; longitude = -117.375026; captureRadius = 10; duration = 50; initialDepth = 572.586055; finalDepth = 572.861361; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:572.861361 # Seafloor depth:-612.861361 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 177 # Segment length 50.765818 meters # Minimum depth: 612.586055 meters looking forward 0.000000 meters along route # Maximum depth: 612.586055 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 572.586055 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914631; longitude = -117.374388; captureRadius = 10; duration = 50; initialDepth = 572.386703; finalDepth = 572.586055; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:572.586055 # Seafloor depth:-612.586055 # 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 176 # Segment length 50.765818 meters # Minimum depth: 612.386703 meters looking forward 0.000000 meters along route # Maximum depth: 612.386703 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 572.386703 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914545; longitude = -117.373800; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 570.068331; finalDepth = 572.386703; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:572.386703 # Seafloor depth:-612.386703 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 176 # Segment length 50.765818 meters # Minimum depth: 610.068331 meters looking forward 0.000000 meters along route # Maximum depth: 610.068331 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 570.068331 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914860; longitude = -117.373651; captureRadius = 10; duration = 50; initialDepth = 553.545263; finalDepth = 570.068331; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:570.068331 # Seafloor depth:-610.068331 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 176 # Segment length 50.765818 meters # Minimum depth: 593.545263 meters looking forward 0.000000 meters along route # Maximum depth: 593.545263 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 553.545263 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915402; longitude = -117.373395; captureRadius = 10; duration = 50; initialDepth = 548.370956; finalDepth = 553.545263; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:553.545263 # Seafloor depth:-593.545263 # 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 175 # Segment length 50.765818 meters # Minimum depth: 588.370956 meters looking forward 0.000000 meters along route # Maximum depth: 588.370956 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 548.370956 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915898; longitude = -117.373160; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 549.893679; finalDepth = 548.370956; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:548.370956 # Seafloor depth:-588.370956 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 175 # Segment length 50.765818 meters # Minimum depth: 589.893679 meters looking forward 0.000000 meters along route # Maximum depth: 589.893679 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 549.893679 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915917; longitude = -117.373266; captureRadius = 10; duration = 50; initialDepth = 545.931310; finalDepth = 549.893679; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:549.893679 # Seafloor depth:-589.893679 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 175 # Segment length 50.765818 meters # Minimum depth: 585.931310 meters looking forward 0.000000 meters along route # Maximum depth: 585.931310 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 545.931310 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.916032; longitude = -117.373907; captureRadius = 10; duration = 50; initialDepth = 543.435606; finalDepth = 545.931310; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:545.93131 # Seafloor depth:-585.931310 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 175 # Segment length 50.765818 meters # Minimum depth: 583.435606 meters looking forward 0.000000 meters along route # Maximum depth: 583.435606 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 543.435606 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.916147; longitude = -117.374548; captureRadius = 10; duration = 50; initialDepth = 545.557092; finalDepth = 543.435606; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:543.435606 # Seafloor depth:-583.435606 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 175 # Segment length 50.765818 meters # Minimum depth: 585.557092 meters looking forward 0.000000 meters along route # Maximum depth: 585.557092 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 545.557092 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.916263; longitude = -117.375189; captureRadius = 10; duration = 50; initialDepth = 550.322341; finalDepth = 545.557092; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:545.557092 # Seafloor depth:-585.557092 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 175 # Segment length 50.765818 meters # Minimum depth: 590.322341 meters looking forward 0.000000 meters along route # Maximum depth: 590.322341 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 550.322341 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.916378; longitude = -117.375830; captureRadius = 10; duration = 50; initialDepth = 549.404186; finalDepth = 550.322341; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:550.322341 # Seafloor depth:-590.322341 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 175 # Segment length 50.765818 meters # Minimum depth: 589.404186 meters looking forward 0.000000 meters along route # Maximum depth: 589.404186 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 549.404186 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.916484; longitude = -117.376422; captureRadius = 10; duration = 50; initialDepth = 551.315647; finalDepth = 549.404186; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:549.404186 # Seafloor depth:-589.404186 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 175 # Segment length 50.765818 meters # Minimum depth: 591.315647 meters looking forward 0.000000 meters along route # Maximum depth: 591.315647 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 551.315647 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.916579; longitude = -117.376952; captureRadius = 10; duration = 50; initialDepth = 555.331150; finalDepth = 551.315647; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:551.315647 # Seafloor depth:-591.315647 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 175 # Segment length 50.765818 meters # Minimum depth: 595.331150 meters looking forward 0.000000 meters along route # Maximum depth: 595.331150 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 555.331150 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.916694; longitude = -117.377593; captureRadius = 10; duration = 50; initialDepth = 557.835054; finalDepth = 555.331150; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:555.33115 # Seafloor depth:-595.331150 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 175 # Segment length 50.765818 meters # Minimum depth: 597.835054 meters looking forward 0.000000 meters along route # Maximum depth: 597.835054 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 557.835054 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.916810; longitude = -117.378234; captureRadius = 10; duration = 50; initialDepth = 560.559314; finalDepth = 557.835054; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:557.835054 # Seafloor depth:-597.835054 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 175 # Segment length 50.765818 meters # Minimum depth: 600.559314 meters looking forward 0.000000 meters along route # Maximum depth: 600.559314 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 560.559314 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.916925; longitude = -117.378875; captureRadius = 10; duration = 50; initialDepth = 565.726836; finalDepth = 560.559314; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:560.559314 # Seafloor depth:-600.559314 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 175 # Segment length 50.765818 meters # Minimum depth: 605.726836 meters looking forward 0.000000 meters along route # Maximum depth: 605.726836 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 565.726836 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.917040; longitude = -117.379515; captureRadius = 10; duration = 50; initialDepth = 567.399463; finalDepth = 565.726836; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:565.726836 # Seafloor depth:-605.726836 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 175 # Segment length 50.765818 meters # Minimum depth: 607.399463 meters looking forward 0.000000 meters along route # Maximum depth: 607.399463 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 567.399463 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.917155; longitude = -117.380156; captureRadius = 10; duration = 50; initialDepth = 568.303391; finalDepth = 567.399463; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:567.399463 # Seafloor depth:-607.399463 # 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 174 # Segment length 50.765818 meters # Minimum depth: 608.303391 meters looking forward 0.000000 meters along route # Maximum depth: 608.303391 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 568.303391 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.917251; longitude = -117.380691; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 568.148339; finalDepth = 568.303391; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:568.303391 # Seafloor depth:-608.303391 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 174 # Segment length 50.765818 meters # Minimum depth: 608.148339 meters looking forward 0.000000 meters along route # Maximum depth: 608.148339 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 568.148339 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.917296; longitude = -117.381023; captureRadius = 10; duration = 50; initialDepth = 565.610164; finalDepth = 568.148339; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:568.148339 # Seafloor depth:-608.148339 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 174 # Segment length 50.765818 meters # Minimum depth: 605.610164 meters looking forward 0.000000 meters along route # Maximum depth: 605.610164 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 565.610164 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.917374; longitude = -117.381598; captureRadius = 10; duration = 50; initialDepth = 570.056366; finalDepth = 565.610164; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:565.610164 # Seafloor depth:-605.610164 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 174 # Segment length 50.765818 meters # Minimum depth: 610.056366 meters looking forward 0.000000 meters along route # Maximum depth: 610.056366 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 570.056366 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.917460; longitude = -117.382239; captureRadius = 10; duration = 50; initialDepth = 572.625214; finalDepth = 570.056366; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:570.056366 # Seafloor depth:-610.056366 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 174 # Segment length 50.765818 meters # Minimum depth: 612.625214 meters looking forward 0.000000 meters along route # Maximum depth: 612.625214 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 572.625214 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.917547; longitude = -117.382880; captureRadius = 10; duration = 50; initialDepth = 574.373013; finalDepth = 572.625214; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:572.625214 # Seafloor depth:-612.625214 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 174 # Segment length 50.765818 meters # Minimum depth: 614.373013 meters looking forward 0.000000 meters along route # Maximum depth: 614.373013 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 574.373013 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.917633; longitude = -117.383521; captureRadius = 10; duration = 50; initialDepth = 576.728860; finalDepth = 574.373013; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:574.373013 # Seafloor depth:-614.373013 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 174 # Segment length 50.765818 meters # Minimum depth: 616.728860 meters looking forward 0.000000 meters along route # Maximum depth: 616.728860 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 576.728860 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.917720; longitude = -117.384162; captureRadius = 10; duration = 50; initialDepth = 578.300522; finalDepth = 576.728860; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:576.72886 # Seafloor depth:-616.728860 # 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 173 # Segment length 50.765818 meters # Minimum depth: 618.300522 meters looking forward 0.000000 meters along route # Maximum depth: 618.300522 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 578.300522 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.917792; longitude = -117.384696; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 578.820830; finalDepth = 578.300522; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:578.300522 # Seafloor depth:-618.300522 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 173 # Segment length 50.765818 meters # Minimum depth: 618.820830 meters looking forward 0.000000 meters along route # Maximum depth: 618.820830 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 578.820830 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.917841; longitude = -117.384803; captureRadius = 10; duration = 50; initialDepth = 579.219123; finalDepth = 578.820830; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:578.82083 # Seafloor depth:-618.820830 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 173 # Segment length 50.765818 meters # Minimum depth: 619.219123 meters looking forward 0.000000 meters along route # Maximum depth: 619.219123 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 579.219123 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.918059; longitude = -117.385284; captureRadius = 10; duration = 50; initialDepth = 580.444433; finalDepth = 579.219123; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:579.219123 # Seafloor depth:-619.219123 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 173 # Segment length 50.765818 meters # Minimum depth: 620.444433 meters looking forward 0.000000 meters along route # Maximum depth: 620.444433 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 580.444433 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.918278; longitude = -117.385765; captureRadius = 10; duration = 50; initialDepth = 580.619418; finalDepth = 580.444433; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:580.444433 # Seafloor depth:-620.444433 # 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 173 # Segment length 50.765818 meters # Minimum depth: 620.619418 meters looking forward 0.000000 meters along route # Maximum depth: 620.619418 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 580.619418 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.918514; longitude = -117.386283; captureRadius = 10; duration = 50; initialDepth = 581.052841; finalDepth = 580.619418; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:580.619418 # Seafloor depth:-620.619418 # 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 172 # Segment length 50.765818 meters # Minimum depth: 621.052841 meters looking forward 0.000000 meters along route # Maximum depth: 621.052841 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 581.052841 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.918739; longitude = -117.386779; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 581.652488; finalDepth = 581.052841; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:581.052841 # Seafloor depth:-621.052841 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 172 # Segment length 50.765818 meters # Minimum depth: 621.652488 meters looking forward 0.000000 meters along route # Maximum depth: 621.652488 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 581.652488 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.918791; longitude = -117.387046; captureRadius = 10; duration = 50; initialDepth = 579.177964; finalDepth = 581.652488; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:581.652488 # Seafloor depth:-621.652488 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 172 # Segment length 50.765818 meters # Minimum depth: 619.177964 meters looking forward 0.000000 meters along route # Maximum depth: 619.177964 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 579.177964 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.918920; longitude = -117.387706; captureRadius = 10; duration = 50; initialDepth = 581.509639; finalDepth = 579.177964; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:579.177964 # Seafloor depth:-619.177964 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 172 # Segment length 50.765818 meters # Minimum depth: 621.509639 meters looking forward 0.000000 meters along route # Maximum depth: 621.509639 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 581.509639 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.919041; longitude = -117.388328; captureRadius = 10; duration = 50; initialDepth = 582.570175; finalDepth = 581.509639; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:581.509639 # Seafloor depth:-621.509639 # 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 171 # Segment length 50.765818 meters # Minimum depth: 622.570175 meters looking forward 0.000000 meters along route # Maximum depth: 622.570175 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 582.570175 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.919145; longitude = -117.388862; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 582.290192; finalDepth = 582.570175; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:582.570175 # Seafloor depth:-622.570175 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 171 # Segment length 50.765818 meters # Minimum depth: 622.290192 meters looking forward 0.000000 meters along route # Maximum depth: 622.290192 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 582.290192 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.919046; longitude = -117.389290; captureRadius = 10; duration = 50; initialDepth = 582.344254; finalDepth = 582.290192; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:582.290192 # Seafloor depth:-622.290192 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 171 # Segment length 50.765818 meters # Minimum depth: 622.344254 meters looking forward 0.000000 meters along route # Maximum depth: 622.344254 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 582.344254 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.918920; longitude = -117.389834; captureRadius = 10; duration = 50; initialDepth = 582.866956; finalDepth = 582.344254; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:582.344254 # Seafloor depth:-622.344254 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 171 # Segment length 50.765818 meters # Minimum depth: 622.866956 meters looking forward 0.000000 meters along route # Maximum depth: 622.866956 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 582.866956 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.918784; longitude = -117.390418; captureRadius = 10; duration = 50; initialDepth = 585.206114; finalDepth = 582.866956; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:582.866956 # Seafloor depth:-622.866956 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 171 # Segment length 50.765818 meters # Minimum depth: 625.206114 meters looking forward 0.000000 meters along route # Maximum depth: 625.206114 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 585.206114 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.918637; longitude = -117.391052; captureRadius = 10; duration = 50; initialDepth = 588.295571; finalDepth = 585.206114; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:585.206114 # Seafloor depth:-625.206114 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 171 # Segment length 50.765818 meters # Minimum depth: 628.295571 meters looking forward 0.000000 meters along route # Maximum depth: 628.295571 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 588.295571 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.918514; longitude = -117.391586; captureRadius = 10; duration = 50; initialDepth = 589.000390; finalDepth = 588.295571; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:588.295571 # Seafloor depth:-628.295571 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 171 # Segment length 50.765818 meters # Minimum depth: 629.000390 meters looking forward 0.000000 meters along route # Maximum depth: 629.000390 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 589.000390 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.918377; longitude = -117.392174; captureRadius = 10; duration = 50; initialDepth = 592.482164; finalDepth = 589.000390; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:589.00039 # Seafloor depth:-629.000390 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 171 # Segment length 50.765818 meters # Minimum depth: 632.482164 meters looking forward 0.000000 meters along route # Maximum depth: 632.482164 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 592.482164 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.918229; longitude = -117.392815; captureRadius = 10; duration = 50; initialDepth = 592.993236; finalDepth = 592.482164; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:592.482164 # Seafloor depth:-632.482164 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 171 # Segment length 50.765818 meters # Minimum depth: 632.993236 meters looking forward 0.000000 meters along route # Maximum depth: 632.993236 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 592.993236 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.918108; longitude = -117.393337; captureRadius = 10; duration = 50; initialDepth = 594.789825; finalDepth = 592.993236; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:592.993236 # Seafloor depth:-632.993236 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 171 # Segment length 50.765818 meters # Minimum depth: 634.789825 meters looking forward 0.000000 meters along route # Maximum depth: 634.789825 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 594.789825 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.917969; longitude = -117.393936; captureRadius = 10; duration = 50; initialDepth = 598.406970; finalDepth = 594.789825; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:594.789825 # Seafloor depth:-634.789825 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 171 # Segment length 50.765818 meters # Minimum depth: 638.406970 meters looking forward 0.000000 meters along route # Maximum depth: 638.406970 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 598.406970 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.917820; longitude = -117.394577; captureRadius = 10; duration = 50; initialDepth = 604.350456; finalDepth = 598.406970; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:598.40697 # Seafloor depth:-638.406970 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 171 # Segment length 50.765818 meters # Minimum depth: 644.350456 meters looking forward 0.000000 meters along route # Maximum depth: 644.350456 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 604.350456 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.917672; longitude = -117.395218; captureRadius = 10; duration = 50; initialDepth = 605.484560; finalDepth = 604.350456; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:604.350456 # Seafloor depth:-644.350456 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 171 # Segment length 50.765818 meters # Minimum depth: 645.484560 meters looking forward 0.000000 meters along route # Maximum depth: 645.484560 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 605.484560 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.917523; longitude = -117.395859; captureRadius = 10; duration = 50; initialDepth = 613.186550; finalDepth = 605.484560; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:605.48456 # Seafloor depth:-645.484560 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 171 # Segment length 50.765818 meters # Minimum depth: 653.186550 meters looking forward 0.000000 meters along route # Maximum depth: 653.186550 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 613.186550 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.917375; longitude = -117.396500; captureRadius = 10; duration = 50; initialDepth = 616.692230; finalDepth = 613.186550; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:613.18655 # Seafloor depth:-653.186550 # 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 170 # Segment length 50.765818 meters # Minimum depth: 656.692230 meters looking forward 0.000000 meters along route # Maximum depth: 656.692230 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 616.692230 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.917251; longitude = -117.397034; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 612.275790; finalDepth = 616.692230; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:616.69223 # Seafloor depth:-656.692230 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 170 # Segment length 50.765818 meters # Minimum depth: 652.275790 meters looking forward 0.000000 meters along route # Maximum depth: 652.275790 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 612.275790 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.917745; longitude = -117.396981; captureRadius = 10; duration = 50; initialDepth = 608.895639; finalDepth = 612.275790; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:612.27579 # Seafloor depth:-652.275790 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 170 # Segment length 50.765818 meters # Minimum depth: 648.895639 meters looking forward 0.000000 meters along route # Maximum depth: 648.895639 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 608.895639 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.918243; longitude = -117.396927; captureRadius = 10; duration = 50; initialDepth = 605.898376; finalDepth = 608.895639; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:608.895639 # Seafloor depth:-648.895639 # 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 169 # Segment length 50.765818 meters # Minimum depth: 645.898376 meters looking forward 0.000000 meters along route # Maximum depth: 645.898376 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 605.898376 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.918739; longitude = -117.396874; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 603.080587; finalDepth = 605.898376; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:605.898376 # Seafloor depth:-645.898376 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 169 # Segment length 50.765818 meters # Minimum depth: 643.080587 meters looking forward 0.000000 meters along route # Maximum depth: 643.080587 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 603.080587 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.918791; longitude = -117.396660; captureRadius = 10; duration = 50; initialDepth = 598.125657; finalDepth = 603.080587; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:603.080587 # Seafloor depth:-643.080587 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 169 # Segment length 50.765818 meters # Minimum depth: 638.125657 meters looking forward 0.000000 meters along route # Maximum depth: 638.125657 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 598.125657 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.918920; longitude = -117.396139; captureRadius = 10; duration = 50; initialDepth = 593.956094; finalDepth = 598.125657; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:598.125657 # Seafloor depth:-638.125657 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 169 # Segment length 50.765818 meters # Minimum depth: 633.956094 meters looking forward 0.000000 meters along route # Maximum depth: 633.956094 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 593.956094 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.919055; longitude = -117.395589; captureRadius = 10; duration = 50; initialDepth = 591.399532; finalDepth = 593.956094; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:593.956094 # Seafloor depth:-633.956094 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 169 # Segment length 50.765818 meters # Minimum depth: 631.399532 meters looking forward 0.000000 meters along route # Maximum depth: 631.399532 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 591.399532 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.919190; longitude = -117.395038; captureRadius = 10; duration = 50; initialDepth = 590.763889; finalDepth = 591.399532; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:591.399532 # Seafloor depth:-631.399532 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 169 # Segment length 50.765818 meters # Minimum depth: 630.763889 meters looking forward 0.000000 meters along route # Maximum depth: 630.763889 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 590.763889 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.919326; longitude = -117.394488; captureRadius = 10; duration = 50; initialDepth = 591.506365; finalDepth = 590.763889; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:590.763889 # Seafloor depth:-630.763889 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 169 # Segment length 50.765818 meters # Minimum depth: 631.506365 meters looking forward 0.000000 meters along route # Maximum depth: 631.506365 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 591.506365 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.919461; longitude = -117.393936; captureRadius = 10; duration = 50; initialDepth = 589.948946; finalDepth = 591.506365; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:591.506365 # Seafloor depth:-631.506365 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 169 # Segment length 50.765818 meters # Minimum depth: 629.948946 meters looking forward 0.000000 meters along route # Maximum depth: 629.948946 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 589.948946 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.919596; longitude = -117.393387; captureRadius = 10; duration = 50; initialDepth = 587.918229; finalDepth = 589.948946; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:589.948946 # Seafloor depth:-629.948946 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 169 # Segment length 50.765818 meters # Minimum depth: 627.918229 meters looking forward 0.000000 meters along route # Maximum depth: 627.918229 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 587.918229 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.919737; longitude = -117.392815; captureRadius = 10; duration = 50; initialDepth = 584.785201; finalDepth = 587.918229; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:587.918229 # Seafloor depth:-627.918229 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 169 # Segment length 50.765818 meters # Minimum depth: 624.785201 meters looking forward 0.000000 meters along route # Maximum depth: 624.785201 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 584.785201 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.919894; longitude = -117.392174; captureRadius = 10; duration = 50; initialDepth = 583.964393; finalDepth = 584.785201; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:584.785201 # Seafloor depth:-624.785201 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 169 # Segment length 50.765818 meters # Minimum depth: 623.964393 meters looking forward 0.000000 meters along route # Maximum depth: 623.964393 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 583.964393 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.920052; longitude = -117.391533; captureRadius = 10; duration = 50; initialDepth = 583.365631; finalDepth = 583.964393; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:583.964393 # Seafloor depth:-623.964393 # 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 168 # Segment length 50.765818 meters # Minimum depth: 623.365631 meters looking forward 0.000000 meters along route # Maximum depth: 623.365631 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 583.365631 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.920183; longitude = -117.390999; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 583.954594; finalDepth = 583.365631; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:583.365631 # Seafloor depth:-623.365631 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 168 # Segment length 50.765818 meters # Minimum depth: 623.954594 meters looking forward 0.000000 meters along route # Maximum depth: 623.954594 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 583.954594 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.920323; longitude = -117.390411; captureRadius = 10; duration = 50; initialDepth = 586.496987; finalDepth = 583.954594; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:583.954594 # Seafloor depth:-623.954594 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 168 # Segment length 50.765818 meters # Minimum depth: 626.496987 meters looking forward 0.000000 meters along route # Maximum depth: 626.496987 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 586.496987 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.920476; longitude = -117.389770; captureRadius = 10; duration = 50; initialDepth = 585.948846; finalDepth = 586.496987; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:586.496987 # Seafloor depth:-626.496987 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 168 # Segment length 50.765818 meters # Minimum depth: 625.948846 meters looking forward 0.000000 meters along route # Maximum depth: 625.948846 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 585.948846 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.920629; longitude = -117.389129; captureRadius = 10; duration = 50; initialDepth = 586.315094; finalDepth = 585.948846; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:585.948846 # Seafloor depth:-625.948846 # 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 167 # Segment length 50.765818 meters # Minimum depth: 626.315094 meters looking forward 0.000000 meters along route # Maximum depth: 626.315094 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 586.315094 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.920769; longitude = -117.388542; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 586.059382; finalDepth = 586.315094; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:586.315094 # Seafloor depth:-626.315094 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 167 # Segment length 50.765818 meters # Minimum depth: 626.059382 meters looking forward 0.000000 meters along route # Maximum depth: 626.059382 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 586.059382 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.920647; longitude = -117.388168; captureRadius = 10; duration = 50; initialDepth = 584.680481; finalDepth = 586.059382; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:586.059382 # Seafloor depth:-626.059382 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 167 # Segment length 50.765818 meters # Minimum depth: 624.680481 meters looking forward 0.000000 meters along route # Maximum depth: 624.680481 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 584.680481 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.920439; longitude = -117.387527; captureRadius = 10; duration = 50; initialDepth = 582.452196; finalDepth = 584.680481; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:584.680481 # Seafloor depth:-624.680481 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 167 # Segment length 50.765818 meters # Minimum depth: 622.452196 meters looking forward 0.000000 meters along route # Maximum depth: 622.452196 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 582.452196 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.920273; longitude = -117.387015; captureRadius = 10; duration = 50; initialDepth = 581.068863; finalDepth = 582.452196; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:582.452196 # Seafloor depth:-622.452196 # 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 166 # Segment length 50.765818 meters # Minimum depth: 621.068863 meters looking forward 0.000000 meters along route # Maximum depth: 621.068863 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 581.068863 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.920092; longitude = -117.386459; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 579.536402; finalDepth = 581.068863; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:581.068863 # Seafloor depth:-621.068863 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 166 # Segment length 50.765818 meters # Minimum depth: 619.536402 meters looking forward 0.000000 meters along route # Maximum depth: 619.536402 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 579.536402 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.919976; longitude = -117.386245; captureRadius = 10; duration = 50; initialDepth = 578.250679; finalDepth = 579.536402; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:579.536402 # Seafloor depth:-619.536402 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 166 # Segment length 50.765818 meters # Minimum depth: 618.250679 meters looking forward 0.000000 meters along route # Maximum depth: 618.250679 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 578.250679 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.919715; longitude = -117.385765; captureRadius = 10; duration = 50; initialDepth = 578.178976; finalDepth = 578.250679; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:578.250679 # Seafloor depth:-618.250679 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 166 # Segment length 50.765818 meters # Minimum depth: 618.178976 meters looking forward 0.000000 meters along route # Maximum depth: 618.178976 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 578.178976 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.919454; longitude = -117.385284; captureRadius = 10; duration = 50; initialDepth = 578.709560; finalDepth = 578.178976; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:578.178976 # Seafloor depth:-618.178976 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 166 # Segment length 50.765818 meters # Minimum depth: 618.709560 meters looking forward 0.000000 meters along route # Maximum depth: 618.709560 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 578.709560 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.919190; longitude = -117.384797; captureRadius = 10; duration = 50; initialDepth = 576.475662; finalDepth = 578.709560; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:578.70956 # Seafloor depth:-618.709560 # 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 165 # Segment length 50.765818 meters # Minimum depth: 616.475662 meters looking forward 0.000000 meters along route # Maximum depth: 616.475662 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 576.475662 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.918875; longitude = -117.384216; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 576.160747; finalDepth = 576.475662; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:576.475662 # Seafloor depth:-616.475662 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 165 # Segment length 50.765818 meters # Minimum depth: 616.160747 meters looking forward 0.000000 meters along route # Maximum depth: 616.160747 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 576.160747 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.918867; longitude = -117.384162; captureRadius = 10; duration = 50; initialDepth = 574.594116; finalDepth = 576.160747; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:576.160747 # Seafloor depth:-616.160747 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 165 # Segment length 50.765818 meters # Minimum depth: 614.594116 meters looking forward 0.000000 meters along route # Maximum depth: 614.594116 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 574.594116 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.918767; longitude = -117.383521; captureRadius = 10; duration = 50; initialDepth = 573.723064; finalDepth = 574.594116; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:574.594116 # Seafloor depth:-614.594116 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 165 # Segment length 50.765818 meters # Minimum depth: 613.723064 meters looking forward 0.000000 meters along route # Maximum depth: 613.723064 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 573.723064 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.918668; longitude = -117.382880; captureRadius = 10; duration = 50; initialDepth = 570.697246; finalDepth = 573.723064; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:573.723064 # Seafloor depth:-613.723064 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 165 # Segment length 50.765818 meters # Minimum depth: 610.697246 meters looking forward 0.000000 meters along route # Maximum depth: 610.697246 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 570.697246 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.918569; longitude = -117.382239; captureRadius = 10; duration = 50; initialDepth = 570.301432; finalDepth = 570.697246; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:570.697246 # Seafloor depth:-610.697246 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 165 # Segment length 50.765818 meters # Minimum depth: 610.301432 meters looking forward 0.000000 meters along route # Maximum depth: 610.301432 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 570.301432 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.918470; longitude = -117.381598; captureRadius = 10; duration = 50; initialDepth = 566.126314; finalDepth = 570.301432; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:570.301432 # Seafloor depth:-610.301432 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 165 # Segment length 50.765818 meters # Minimum depth: 606.126314 meters looking forward 0.000000 meters along route # Maximum depth: 606.126314 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 566.126314 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.918371; longitude = -117.380958; captureRadius = 10; duration = 50; initialDepth = 562.552414; finalDepth = 566.126314; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:566.126314 # Seafloor depth:-606.126314 # 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 164 # Segment length 50.765818 meters # Minimum depth: 602.552414 meters looking forward 0.000000 meters along route # Maximum depth: 602.552414 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 562.552414 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.918288; longitude = -117.380423; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 560.987322; finalDepth = 562.552414; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:562.552414 # Seafloor depth:-602.552414 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 164 # Segment length 50.765818 meters # Minimum depth: 600.987322 meters looking forward 0.000000 meters along route # Maximum depth: 600.987322 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 560.987322 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.918209; longitude = -117.379996; captureRadius = 10; duration = 50; initialDepth = 560.378102; finalDepth = 560.987322; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:560.987322 # Seafloor depth:-600.987322 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 164 # Segment length 50.765818 meters # Minimum depth: 600.378102 meters looking forward 0.000000 meters along route # Maximum depth: 600.378102 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 560.378102 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.918108; longitude = -117.379447; captureRadius = 10; duration = 50; initialDepth = 557.729662; finalDepth = 560.378102; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:560.378102 # Seafloor depth:-600.378102 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 164 # Segment length 50.765818 meters # Minimum depth: 597.729662 meters looking forward 0.000000 meters along route # Maximum depth: 597.729662 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 557.729662 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.918002; longitude = -117.378875; captureRadius = 10; duration = 50; initialDepth = 554.219851; finalDepth = 557.729662; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:557.729662 # Seafloor depth:-597.729662 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 164 # Segment length 50.765818 meters # Minimum depth: 594.219851 meters looking forward 0.000000 meters along route # Maximum depth: 594.219851 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 554.219851 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.917884; longitude = -117.378234; captureRadius = 10; duration = 50; initialDepth = 545.494321; finalDepth = 554.219851; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:554.219851 # Seafloor depth:-594.219851 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 164 # Segment length 50.765818 meters # Minimum depth: 585.494321 meters looking forward 0.000000 meters along route # Maximum depth: 585.494321 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 545.494321 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.917765; longitude = -117.377593; captureRadius = 10; duration = 50; initialDepth = 542.598526; finalDepth = 545.494321; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:545.494321 # Seafloor depth:-585.494321 # 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 163 # Segment length 50.765818 meters # Minimum depth: 582.598526 meters looking forward 0.000000 meters along route # Maximum depth: 582.598526 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 542.598526 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.917657; longitude = -117.377005; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 542.520198; finalDepth = 542.598526; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:542.598526 # Seafloor depth:-582.598526 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 163 # Segment length 50.765818 meters # Minimum depth: 582.520198 meters looking forward 0.000000 meters along route # Maximum depth: 582.520198 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 542.520198 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.917635; longitude = -117.376952; captureRadius = 10; duration = 50; initialDepth = 540.359949; finalDepth = 542.520198; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:542.520198 # Seafloor depth:-582.520198 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 163 # Segment length 50.765818 meters # Minimum depth: 580.359949 meters looking forward 0.000000 meters along route # Maximum depth: 580.359949 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 540.359949 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.917431; longitude = -117.376470; captureRadius = 10; duration = 50; initialDepth = 540.492520; finalDepth = 540.359949; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:540.359949 # Seafloor depth:-580.359949 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 163 # Segment length 50.765818 meters # Minimum depth: 580.492520 meters looking forward 0.000000 meters along route # Maximum depth: 580.492520 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 540.492520 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.917229; longitude = -117.375990; captureRadius = 10; duration = 50; initialDepth = 539.581284; finalDepth = 540.492520; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:540.49252 # Seafloor depth:-580.492520 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 163 # Segment length 50.765818 meters # Minimum depth: 579.581284 meters looking forward 0.000000 meters along route # Maximum depth: 579.581284 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 539.581284 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.917025; longitude = -117.375509; captureRadius = 10; duration = 50; initialDepth = 537.291189; finalDepth = 539.581284; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:539.581284 # Seafloor depth:-579.581284 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 163 # Segment length 50.765818 meters # Minimum depth: 577.291189 meters looking forward 0.000000 meters along route # Maximum depth: 577.291189 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 537.291189 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.916823; longitude = -117.375029; captureRadius = 10; duration = 50; initialDepth = 536.931125; finalDepth = 537.291189; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:537.291189 # Seafloor depth:-577.291189 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 163 # Segment length 50.765818 meters # Minimum depth: 576.931125 meters looking forward 0.000000 meters along route # Maximum depth: 576.931125 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 536.931125 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.916619; longitude = -117.374548; captureRadius = 10; duration = 50; initialDepth = 537.842972; finalDepth = 536.931125; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:536.931125 # Seafloor depth:-576.931125 # 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 162 # Segment length 50.765818 meters # Minimum depth: 577.842972 meters looking forward 0.000000 meters along route # Maximum depth: 577.842972 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 537.842972 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.916394; longitude = -117.374014; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 540.066142; finalDepth = 537.842972; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:537.842972 # Seafloor depth:-577.842972 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 162 # Segment length 50.765818 meters # Minimum depth: 580.066142 meters looking forward 0.000000 meters along route # Maximum depth: 580.066142 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 540.066142 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.916273; longitude = -117.373907; captureRadius = 10; duration = 50; initialDepth = 547.684572; finalDepth = 540.066142; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:540.066142 # Seafloor depth:-580.066142 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 162 # Segment length 50.765818 meters # Minimum depth: 587.684572 meters looking forward 0.000000 meters along route # Maximum depth: 587.684572 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 547.684572 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915908; longitude = -117.373587; captureRadius = 10; duration = 50; initialDepth = 552.058182; finalDepth = 547.684572; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:547.684572 # Seafloor depth:-587.684572 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 162 # Segment length 50.765818 meters # Minimum depth: 592.058182 meters looking forward 0.000000 meters along route # Maximum depth: 592.058182 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 552.058182 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915543; longitude = -117.373266; captureRadius = 10; duration = 50; initialDepth = 555.250378; finalDepth = 552.058182; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:552.058182 # Seafloor depth:-592.058182 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 162 # Segment length 50.765818 meters # Minimum depth: 595.250378 meters looking forward 0.000000 meters along route # Maximum depth: 595.250378 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 555.250378 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915178; longitude = -117.372946; captureRadius = 10; duration = 50; initialDepth = 561.688999; finalDepth = 555.250378; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:555.250378 # Seafloor depth:-595.250378 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 162 # Segment length 50.765818 meters # Minimum depth: 601.688999 meters looking forward 0.000000 meters along route # Maximum depth: 601.688999 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 561.688999 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914813; longitude = -117.372625; captureRadius = 10; duration = 50; initialDepth = 566.930653; finalDepth = 561.688999; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:561.688999 # Seafloor depth:-601.688999 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 162 # Segment length 50.765818 meters # Minimum depth: 606.930653 meters looking forward 0.000000 meters along route # Maximum depth: 606.930653 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 566.930653 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914449; longitude = -117.372305; captureRadius = 10; duration = 50; initialDepth = 570.052542; finalDepth = 566.930653; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:566.930653 # Seafloor depth:-606.930653 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 162 # Segment length 50.765818 meters # Minimum depth: 610.052542 meters looking forward 0.000000 meters along route # Maximum depth: 610.052542 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 570.052542 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914084; longitude = -117.371984; captureRadius = 10; duration = 50; initialDepth = 569.796654; finalDepth = 570.052542; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:570.052542 # Seafloor depth:-610.052542 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 162 # Segment length 50.765818 meters # Minimum depth: 609.796654 meters looking forward 0.000000 meters along route # Maximum depth: 609.796654 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 569.796654 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913719; longitude = -117.371664; captureRadius = 10; duration = 50; initialDepth = 569.003189; finalDepth = 569.796654; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:569.796654 # Seafloor depth:-609.796654 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 162 # Segment length 50.765818 meters # Minimum depth: 609.003189 meters looking forward 0.000000 meters along route # Maximum depth: 609.003189 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 569.003189 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913354; longitude = -117.371344; captureRadius = 10; duration = 50; initialDepth = 570.217746; finalDepth = 569.003189; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:569.003189 # Seafloor depth:-609.003189 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 162 # Segment length 50.765818 meters # Minimum depth: 610.217746 meters looking forward 0.000000 meters along route # Maximum depth: 610.217746 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 570.217746 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912990; longitude = -117.371023; captureRadius = 10; duration = 50; initialDepth = 568.097510; finalDepth = 570.217746; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:570.217746 # Seafloor depth:-610.217746 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 162 # Segment length 50.765818 meters # Minimum depth: 608.097510 meters looking forward 0.000000 meters along route # Maximum depth: 608.097510 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 568.097510 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912625; longitude = -117.370703; captureRadius = 10; duration = 50; initialDepth = 564.898885; finalDepth = 568.097510; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:568.09751 # Seafloor depth:-608.097510 # 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 161 # Segment length 50.765818 meters # Minimum depth: 604.898885 meters looking forward 0.000000 meters along route # Maximum depth: 604.898885 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 564.898885 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912199; longitude = -117.370329; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 563.943274; finalDepth = 564.898885; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:564.898885 # Seafloor depth:-604.898885 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 161 # Segment length 50.765818 meters # Minimum depth: 603.943274 meters looking forward 0.000000 meters along route # Maximum depth: 603.943274 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 563.943274 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912213; longitude = -117.370222; captureRadius = 10; duration = 50; initialDepth = 562.089912; finalDepth = 563.943274; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:563.943274 # Seafloor depth:-603.943274 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 161 # Segment length 50.765818 meters # Minimum depth: 602.089912 meters looking forward 0.000000 meters along route # Maximum depth: 602.089912 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 562.089912 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912294; longitude = -117.369581; captureRadius = 10; duration = 50; initialDepth = 566.708362; finalDepth = 562.089912; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:562.089912 # Seafloor depth:-602.089912 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 161 # Segment length 50.765818 meters # Minimum depth: 606.708362 meters looking forward 0.000000 meters along route # Maximum depth: 606.708362 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 566.708362 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912376; longitude = -117.368940; captureRadius = 10; duration = 50; initialDepth = 565.871932; finalDepth = 566.708362; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:566.708362 # Seafloor depth:-606.708362 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 161 # Segment length 50.765818 meters # Minimum depth: 605.871932 meters looking forward 0.000000 meters along route # Maximum depth: 605.871932 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 565.871932 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912457; longitude = -117.368299; captureRadius = 10; duration = 50; initialDepth = 568.454492; finalDepth = 565.871932; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:565.871932 # Seafloor depth:-605.871932 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 161 # Segment length 50.765818 meters # Minimum depth: 608.454492 meters looking forward 0.000000 meters along route # Maximum depth: 608.454492 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 568.454492 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912539; longitude = -117.367658; captureRadius = 10; duration = 50; initialDepth = 567.436500; finalDepth = 568.454492; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:568.454492 # Seafloor depth:-608.454492 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 161 # Segment length 50.765818 meters # Minimum depth: 607.436500 meters looking forward 0.000000 meters along route # Maximum depth: 607.436500 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 567.436500 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912620; longitude = -117.367017; captureRadius = 10; duration = 50; initialDepth = 563.569217; finalDepth = 567.436500; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:567.4365 # Seafloor depth:-607.436500 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 161 # Segment length 50.765818 meters # Minimum depth: 603.569217 meters looking forward 0.000000 meters along route # Maximum depth: 603.569217 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 563.569217 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912702; longitude = -117.366376; captureRadius = 10; duration = 50; initialDepth = 560.517008; finalDepth = 563.569217; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:563.569217 # Seafloor depth:-603.569217 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 161 # Segment length 50.765818 meters # Minimum depth: 600.517008 meters looking forward 0.000000 meters along route # Maximum depth: 600.517008 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 560.517008 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912783; longitude = -117.365735; captureRadius = 10; duration = 50; initialDepth = 559.794577; finalDepth = 560.517008; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:560.517008 # Seafloor depth:-600.517008 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 161 # Segment length 50.765818 meters # Minimum depth: 599.794577 meters looking forward 0.000000 meters along route # Maximum depth: 599.794577 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 559.794577 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912865; longitude = -117.365094; captureRadius = 10; duration = 50; initialDepth = 559.163768; finalDepth = 559.794577; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:559.794577 # Seafloor depth:-599.794577 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 161 # Segment length 50.765818 meters # Minimum depth: 599.163768 meters looking forward 0.000000 meters along route # Maximum depth: 599.163768 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 559.163768 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912946; longitude = -117.364453; captureRadius = 10; duration = 50; initialDepth = 560.173013; finalDepth = 559.163768; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:559.163768 # Seafloor depth:-599.163768 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 161 # Segment length 50.765818 meters # Minimum depth: 600.173013 meters looking forward 0.000000 meters along route # Maximum depth: 600.173013 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 560.173013 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913028; longitude = -117.363813; captureRadius = 10; duration = 50; initialDepth = 559.652136; finalDepth = 560.173013; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:560.173013 # Seafloor depth:-600.173013 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 161 # Segment length 50.765818 meters # Minimum depth: 599.652136 meters looking forward 0.000000 meters along route # Maximum depth: 599.652136 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 559.652136 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913101; longitude = -117.363236; captureRadius = 10; duration = 50; initialDepth = 559.441832; finalDepth = 559.652136; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:559.652136 # Seafloor depth:-599.652136 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 161 # Segment length 50.765818 meters # Minimum depth: 599.441832 meters looking forward 0.000000 meters along route # Maximum depth: 599.441832 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 559.441832 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913171; longitude = -117.362691; captureRadius = 10; duration = 50; initialDepth = 558.073296; finalDepth = 559.441832; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:559.441832 # Seafloor depth:-599.441832 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 161 # Segment length 50.765818 meters # Minimum depth: 598.073296 meters looking forward 0.000000 meters along route # Maximum depth: 598.073296 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 558.073296 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913252; longitude = -117.362050; captureRadius = 10; duration = 50; initialDepth = 556.091553; finalDepth = 558.073296; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:558.073296 # Seafloor depth:-598.073296 # 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 160 # Segment length 50.765818 meters # Minimum depth: 596.091553 meters looking forward 0.000000 meters along route # Maximum depth: 596.091553 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 556.091553 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913327; longitude = -117.361462; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 555.798512; finalDepth = 556.091553; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:556.091553 # Seafloor depth:-596.091553 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 160 # Segment length 50.765818 meters # Minimum depth: 595.798512 meters looking forward 0.000000 meters along route # Maximum depth: 595.798512 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 555.798512 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913328; longitude = -117.361409; captureRadius = 10; duration = 50; initialDepth = 551.699609; finalDepth = 555.798512; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:555.798512 # Seafloor depth:-595.798512 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 160 # Segment length 50.765818 meters # Minimum depth: 591.699609 meters looking forward 0.000000 meters along route # Maximum depth: 591.699609 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 551.699609 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913346; longitude = -117.360768; captureRadius = 10; duration = 50; initialDepth = 549.730655; finalDepth = 551.699609; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:551.699609 # Seafloor depth:-591.699609 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 160 # Segment length 50.765818 meters # Minimum depth: 589.730655 meters looking forward 0.000000 meters along route # Maximum depth: 589.730655 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 549.730655 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913363; longitude = -117.360127; captureRadius = 10; duration = 50; initialDepth = 544.737910; finalDepth = 549.730655; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:549.730655 # Seafloor depth:-589.730655 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 160 # Segment length 50.765818 meters # Minimum depth: 584.737910 meters looking forward 0.000000 meters along route # Maximum depth: 584.737910 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 544.737910 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913381; longitude = -117.359486; captureRadius = 10; duration = 50; initialDepth = 540.976270; finalDepth = 544.737910; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:544.73791 # Seafloor depth:-584.737910 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 160 # Segment length 50.765818 meters # Minimum depth: 580.976270 meters looking forward 0.000000 meters along route # Maximum depth: 580.976270 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 540.976270 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913398; longitude = -117.358845; captureRadius = 10; duration = 50; initialDepth = 538.141800; finalDepth = 540.976270; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:540.97627 # Seafloor depth:-580.976270 # 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 159 # Segment length 50.765818 meters # Minimum depth: 578.141800 meters looking forward 0.000000 meters along route # Maximum depth: 578.141800 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 538.141800 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913417; longitude = -117.358151; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 535.347310; finalDepth = 538.141800; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:538.1418 # Seafloor depth:-578.141800 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 159 # Segment length 50.765818 meters # Minimum depth: 575.347310 meters looking forward 0.000000 meters along route # Maximum depth: 575.347310 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 535.347310 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913372; longitude = -117.357927; captureRadius = 10; duration = 50; initialDepth = 534.436732; finalDepth = 535.347310; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:535.34731 # Seafloor depth:-575.347310 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 159 # Segment length 50.765818 meters # Minimum depth: 574.436732 meters looking forward 0.000000 meters along route # Maximum depth: 574.436732 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 534.436732 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913266; longitude = -117.357403; captureRadius = 10; duration = 50; initialDepth = 531.576574; finalDepth = 534.436732; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:534.436732 # Seafloor depth:-574.436732 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 159 # Segment length 50.765818 meters # Minimum depth: 571.576574 meters looking forward 0.000000 meters along route # Maximum depth: 571.576574 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 531.576574 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913137; longitude = -117.356762; captureRadius = 10; duration = 50; initialDepth = 534.578312; finalDepth = 531.576574; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:531.576574 # Seafloor depth:-571.576574 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 159 # Segment length 50.765818 meters # Minimum depth: 574.578312 meters looking forward 0.000000 meters along route # Maximum depth: 574.578312 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 534.578312 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913008; longitude = -117.356121; captureRadius = 10; duration = 50; initialDepth = 539.520999; finalDepth = 534.578312; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:534.578312 # Seafloor depth:-574.578312 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 159 # Segment length 50.765818 meters # Minimum depth: 579.520999 meters looking forward 0.000000 meters along route # Maximum depth: 579.520999 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 539.520999 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912879; longitude = -117.355480; captureRadius = 10; duration = 50; initialDepth = 537.629723; finalDepth = 539.520999; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:539.520999 # Seafloor depth:-579.520999 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 159 # Segment length 50.765818 meters # Minimum depth: 577.629723 meters looking forward 0.000000 meters along route # Maximum depth: 577.629723 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 537.629723 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912750; longitude = -117.354839; captureRadius = 10; duration = 50; initialDepth = 537.027347; finalDepth = 537.629723; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:537.629723 # Seafloor depth:-577.629723 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 159 # Segment length 50.765818 meters # Minimum depth: 577.027347 meters looking forward 0.000000 meters along route # Maximum depth: 577.027347 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 537.027347 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912621; longitude = -117.354199; captureRadius = 10; duration = 50; initialDepth = 537.132081; finalDepth = 537.027347; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:537.027347 # Seafloor depth:-577.027347 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 159 # Segment length 50.765818 meters # Minimum depth: 577.132081 meters looking forward 0.000000 meters along route # Maximum depth: 577.132081 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 537.132081 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912492; longitude = -117.353558; captureRadius = 10; duration = 50; initialDepth = 534.933702; finalDepth = 537.132081; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:537.132081 # Seafloor depth:-577.132081 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 159 # Segment length 50.765818 meters # Minimum depth: 574.933702 meters looking forward 0.000000 meters along route # Maximum depth: 574.933702 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 534.933702 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912362; longitude = -117.352917; captureRadius = 10; duration = 50; initialDepth = 535.532104; finalDepth = 534.933702; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:534.933702 # Seafloor depth:-574.933702 # 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 158 # Segment length 50.765818 meters # Minimum depth: 575.532104 meters looking forward 0.000000 meters along route # Maximum depth: 575.532104 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 535.532104 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912244; longitude = -117.352329; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 535.256478; finalDepth = 535.532104; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:535.532104 # Seafloor depth:-575.532104 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 158 # Segment length 50.765818 meters # Minimum depth: 575.256478 meters looking forward 0.000000 meters along route # Maximum depth: 575.256478 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 535.256478 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912151; longitude = -117.352116; captureRadius = 10; duration = 50; initialDepth = 533.319468; finalDepth = 535.256478; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:535.256478 # Seafloor depth:-575.256478 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 158 # Segment length 50.765818 meters # Minimum depth: 573.319468 meters looking forward 0.000000 meters along route # Maximum depth: 573.319468 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 533.319468 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911942; longitude = -117.351635; captureRadius = 10; duration = 50; initialDepth = 530.512447; finalDepth = 533.319468; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:533.319468 # Seafloor depth:-573.319468 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 158 # Segment length 50.765818 meters # Minimum depth: 570.512447 meters looking forward 0.000000 meters along route # Maximum depth: 570.512447 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 530.512447 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911732; longitude = -117.351154; captureRadius = 10; duration = 50; initialDepth = 537.781379; finalDepth = 530.512447; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:530.512447 # Seafloor depth:-570.512447 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 158 # Segment length 50.765818 meters # Minimum depth: 577.781379 meters looking forward 0.000000 meters along route # Maximum depth: 577.781379 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 537.781379 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911523; longitude = -117.350673; captureRadius = 10; duration = 50; initialDepth = 536.156314; finalDepth = 537.781379; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:537.781379 # Seafloor depth:-577.781379 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 158 # Segment length 50.765818 meters # Minimum depth: 576.156314 meters looking forward 0.000000 meters along route # Maximum depth: 576.156314 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 536.156314 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911314; longitude = -117.350193; captureRadius = 10; duration = 50; initialDepth = 531.440803; finalDepth = 536.156314; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:536.156314 # Seafloor depth:-576.156314 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 158 # Segment length 50.765818 meters # Minimum depth: 571.440803 meters looking forward 0.000000 meters along route # Maximum depth: 571.440803 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 531.440803 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911104; longitude = -117.349712; captureRadius = 10; duration = 50; initialDepth = 531.187529; finalDepth = 531.440803; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:531.440803 # Seafloor depth:-571.440803 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 158 # Segment length 50.765818 meters # Minimum depth: 571.187529 meters looking forward 0.000000 meters along route # Maximum depth: 571.187529 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 531.187529 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.910895; longitude = -117.349231; captureRadius = 10; duration = 50; initialDepth = 524.524198; finalDepth = 531.187529; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:531.187529 # Seafloor depth:-571.187529 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 158 # Segment length 50.765818 meters # Minimum depth: 564.524198 meters looking forward 0.000000 meters along route # Maximum depth: 564.524198 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 524.524198 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.910685; longitude = -117.348751; captureRadius = 10; duration = 50; initialDepth = 519.779829; finalDepth = 524.524198; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:524.524198 # Seafloor depth:-564.524198 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 158 # Segment length 50.765818 meters # Minimum depth: 559.779829 meters looking forward 0.000000 meters along route # Maximum depth: 559.779829 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 519.779829 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.910476; longitude = -117.348270; captureRadius = 10; duration = 50; initialDepth = 517.249297; finalDepth = 519.779829; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:519.779829 # Seafloor depth:-559.779829 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 158 # Segment length 50.765818 meters # Minimum depth: 557.249297 meters looking forward 0.000000 meters along route # Maximum depth: 557.249297 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 517.249297 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.910260; longitude = -117.347773; captureRadius = 10; duration = 50; initialDepth = 515.661957; finalDepth = 517.249297; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:517.249297 # Seafloor depth:-557.249297 # 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 157 # Segment length 50.765818 meters # Minimum depth: 555.661957 meters looking forward 0.000000 meters along route # Maximum depth: 555.661957 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 515.661957 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.910034; longitude = -117.347255; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 516.079668; finalDepth = 515.661957; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:515.661957 # Seafloor depth:-555.661957 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 157 # Segment length 50.765818 meters # Minimum depth: 556.079668 meters looking forward 0.000000 meters along route # Maximum depth: 556.079668 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 516.079668 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.909989; longitude = -117.347223; captureRadius = 10; duration = 50; initialDepth = 514.859962; finalDepth = 516.079668; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:516.079668 # Seafloor depth:-556.079668 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 157 # Segment length 50.765818 meters # Minimum depth: 554.859962 meters looking forward 0.000000 meters along route # Maximum depth: 554.859962 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 514.859962 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.909583; longitude = -117.346931; captureRadius = 10; duration = 50; initialDepth = 513.847732; finalDepth = 514.859962; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:514.859962 # Seafloor depth:-554.859962 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 157 # Segment length 50.765818 meters # Minimum depth: 553.847732 meters looking forward 0.000000 meters along route # Maximum depth: 553.847732 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 513.847732 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.909177; longitude = -117.346640; captureRadius = 10; duration = 50; initialDepth = 514.352681; finalDepth = 513.847732; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:513.847732 # Seafloor depth:-553.847732 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 157 # Segment length 50.765818 meters # Minimum depth: 554.352681 meters looking forward 0.000000 meters along route # Maximum depth: 554.352681 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 514.352681 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.908770; longitude = -117.346347; captureRadius = 10; duration = 50; initialDepth = 515.255455; finalDepth = 514.352681; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:514.352681 # Seafloor depth:-554.352681 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 157 # Segment length 50.765818 meters # Minimum depth: 555.255455 meters looking forward 0.000000 meters along route # Maximum depth: 555.255455 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 515.255455 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.908365; longitude = -117.346056; captureRadius = 10; duration = 50; initialDepth = 515.503380; finalDepth = 515.255455; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:515.255455 # Seafloor depth:-555.255455 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 157 # Segment length 50.765818 meters # Minimum depth: 555.503380 meters looking forward 0.000000 meters along route # Maximum depth: 555.503380 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 515.503380 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.907959; longitude = -117.345765; captureRadius = 10; duration = 50; initialDepth = 517.007006; finalDepth = 515.503380; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:515.50338 # Seafloor depth:-555.503380 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 157 # Segment length 50.765818 meters # Minimum depth: 557.007006 meters looking forward 0.000000 meters along route # Maximum depth: 557.007006 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 517.007006 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.907553; longitude = -117.345473; captureRadius = 10; duration = 50; initialDepth = 518.604598; finalDepth = 517.007006; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:517.007006 # Seafloor depth:-557.007006 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 157 # Segment length 50.765818 meters # Minimum depth: 558.604598 meters looking forward 0.000000 meters along route # Maximum depth: 558.604598 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 518.604598 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.907148; longitude = -117.345182; captureRadius = 10; duration = 50; initialDepth = 517.574286; finalDepth = 518.604598; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:518.604598 # Seafloor depth:-558.604598 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 157 # Segment length 50.765818 meters # Minimum depth: 557.574286 meters looking forward 0.000000 meters along route # Maximum depth: 557.574286 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 517.574286 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.906742; longitude = -117.344890; captureRadius = 10; duration = 50; initialDepth = 515.467172; finalDepth = 517.574286; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:517.574286 # Seafloor depth:-557.574286 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 157 # Segment length 50.765818 meters # Minimum depth: 555.467172 meters looking forward 0.000000 meters along route # Maximum depth: 555.467172 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 515.467172 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.906316; longitude = -117.344585; captureRadius = 10; duration = 50; initialDepth = 512.509399; finalDepth = 515.467172; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:515.467172 # Seafloor depth:-555.467172 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 157 # Segment length 50.765818 meters # Minimum depth: 552.509399 meters looking forward 0.000000 meters along route # Maximum depth: 552.509399 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 512.509399 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.905930; longitude = -117.344307; captureRadius = 10; duration = 50; initialDepth = 512.141010; finalDepth = 512.509399; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:512.509399 # Seafloor depth:-552.509399 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 157 # Segment length 50.765818 meters # Minimum depth: 552.141010 meters looking forward 0.000000 meters along route # Maximum depth: 552.141010 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 512.141010 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.905524; longitude = -117.344015; captureRadius = 10; duration = 50; initialDepth = 507.686511; finalDepth = 512.141010; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:512.14101 # Seafloor depth:-552.141010 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 157 # Segment length 50.765818 meters # Minimum depth: 547.686511 meters looking forward 0.000000 meters along route # Maximum depth: 547.686511 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 507.686511 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.905118; longitude = -117.343724; captureRadius = 10; duration = 50; initialDepth = 505.489822; finalDepth = 507.686511; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:507.686511 # Seafloor depth:-547.686511 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 157 # Segment length 50.765818 meters # Minimum depth: 545.489822 meters looking forward 0.000000 meters along route # Maximum depth: 545.489822 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 505.489822 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.904712; longitude = -117.343432; captureRadius = 10; duration = 50; initialDepth = 505.283345; finalDepth = 505.489822; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:505.489822 # Seafloor depth:-545.489822 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 157 # Segment length 50.765818 meters # Minimum depth: 545.283345 meters looking forward 0.000000 meters along route # Maximum depth: 545.283345 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 505.283345 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.904306; longitude = -117.343140; captureRadius = 10; duration = 50; initialDepth = 504.392206; finalDepth = 505.283345; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:505.283345 # Seafloor depth:-545.283345 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 157 # Segment length 50.765818 meters # Minimum depth: 544.392206 meters looking forward 0.000000 meters along route # Maximum depth: 544.392206 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 504.392206 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.903900; longitude = -117.342849; captureRadius = 10; duration = 50; initialDepth = 503.718193; finalDepth = 504.392206; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:504.392206 # Seafloor depth:-544.392206 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 157 # Segment length 50.765818 meters # Minimum depth: 543.718193 meters looking forward 0.000000 meters along route # Maximum depth: 543.718193 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 503.718193 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.903494; longitude = -117.342557; captureRadius = 10; duration = 50; initialDepth = 503.808928; finalDepth = 503.718193; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:503.718193 # Seafloor depth:-543.718193 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 157 # Segment length 50.765818 meters # Minimum depth: 543.808928 meters looking forward 0.000000 meters along route # Maximum depth: 543.808928 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 503.808928 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.903088; longitude = -117.342266; captureRadius = 10; duration = 50; initialDepth = 504.185034; finalDepth = 503.808928; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:503.808928 # Seafloor depth:-543.808928 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 157 # Segment length 50.765818 meters # Minimum depth: 544.185034 meters looking forward 0.000000 meters along route # Maximum depth: 544.185034 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 504.185034 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.902682; longitude = -117.341974; captureRadius = 10; duration = 50; initialDepth = 501.415508; finalDepth = 504.185034; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:504.185034 # Seafloor depth:-544.185034 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 157 # Segment length 50.765818 meters # Minimum depth: 541.415508 meters looking forward 0.000000 meters along route # Maximum depth: 541.415508 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 501.415508 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.902276; longitude = -117.341683; captureRadius = 10; duration = 50; initialDepth = 497.763168; finalDepth = 501.415508; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:501.415508 # Seafloor depth:-541.415508 # 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 156 # Segment length 50.765818 meters # Minimum depth: 537.763168 meters looking forward 0.000000 meters along route # Maximum depth: 537.763168 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 497.763168 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.901780; longitude = -117.341326; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 498.043196; finalDepth = 497.763168; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:497.763168 # Seafloor depth:-537.763168 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 156 # Segment length 50.765818 meters # Minimum depth: 538.043196 meters looking forward 0.000000 meters along route # Maximum depth: 538.043196 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 498.043196 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.901802; longitude = -117.341220; captureRadius = 10; duration = 50; initialDepth = 502.527251; finalDepth = 498.043196; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:498.043196 # Seafloor depth:-538.043196 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 156 # Segment length 50.765818 meters # Minimum depth: 542.527251 meters looking forward 0.000000 meters along route # Maximum depth: 542.527251 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 502.527251 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.901933; longitude = -117.340579; captureRadius = 10; duration = 50; initialDepth = 500.997340; finalDepth = 502.527251; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:502.527251 # Seafloor depth:-542.527251 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 156 # Segment length 50.765818 meters # Minimum depth: 540.997340 meters looking forward 0.000000 meters along route # Maximum depth: 540.997340 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 500.997340 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.902065; longitude = -117.339938; captureRadius = 10; duration = 50; initialDepth = 499.343709; finalDepth = 500.997340; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:500.99734 # Seafloor depth:-540.997340 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 156 # Segment length 50.765818 meters # Minimum depth: 539.343709 meters looking forward 0.000000 meters along route # Maximum depth: 539.343709 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 499.343709 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.902196; longitude = -117.339297; captureRadius = 10; duration = 50; initialDepth = 495.871556; finalDepth = 499.343709; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:499.343709 # Seafloor depth:-539.343709 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 156 # Segment length 50.765818 meters # Minimum depth: 535.871556 meters looking forward 0.000000 meters along route # Maximum depth: 535.871556 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 495.871556 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.902328; longitude = -117.338656; captureRadius = 10; duration = 50; initialDepth = 493.050785; finalDepth = 495.871556; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:495.871556 # Seafloor depth:-535.871556 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 156 # Segment length 50.765818 meters # Minimum depth: 533.050785 meters looking forward 0.000000 meters along route # Maximum depth: 533.050785 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 493.050785 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.902460; longitude = -117.338015; captureRadius = 10; duration = 50; initialDepth = 487.474887; finalDepth = 493.050785; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:493.050785 # Seafloor depth:-533.050785 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 156 # Segment length 50.765818 meters # Minimum depth: 527.474887 meters looking forward 0.000000 meters along route # Maximum depth: 527.474887 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 487.474887 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.902591; longitude = -117.337374; captureRadius = 10; duration = 50; initialDepth = 483.916657; finalDepth = 487.474887; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:487.474887 # Seafloor depth:-527.474887 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 156 # Segment length 50.765818 meters # Minimum depth: 523.916657 meters looking forward 0.000000 meters along route # Maximum depth: 523.916657 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 483.916657 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.902723; longitude = -117.336733; captureRadius = 10; duration = 50; initialDepth = 482.415600; finalDepth = 483.916657; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:483.916657 # Seafloor depth:-523.916657 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 156 # Segment length 50.765818 meters # Minimum depth: 522.415600 meters looking forward 0.000000 meters along route # Maximum depth: 522.415600 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 482.415600 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.902854; longitude = -117.336092; captureRadius = 10; duration = 50; initialDepth = 481.394159; finalDepth = 482.415600; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:482.4156 # Seafloor depth:-522.415600 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 156 # Segment length 50.765818 meters # Minimum depth: 521.394159 meters looking forward 0.000000 meters along route # Maximum depth: 521.394159 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 481.394159 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.902986; longitude = -117.335451; captureRadius = 10; duration = 50; initialDepth = 481.517965; finalDepth = 481.394159; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:481.394159 # Seafloor depth:-521.394159 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 156 # Segment length 50.765818 meters # Minimum depth: 521.517965 meters looking forward 0.000000 meters along route # Maximum depth: 521.517965 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 481.517965 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.903117; longitude = -117.334810; captureRadius = 10; duration = 50; initialDepth = 482.875802; finalDepth = 481.517965; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:481.517965 # Seafloor depth:-521.517965 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 156 # Segment length 50.765818 meters # Minimum depth: 522.875802 meters looking forward 0.000000 meters along route # Maximum depth: 522.875802 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 482.875802 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.903249; longitude = -117.334169; captureRadius = 10; duration = 50; initialDepth = 484.434724; finalDepth = 482.875802; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:482.875802 # Seafloor depth:-522.875802 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 156 # Segment length 50.765818 meters # Minimum depth: 524.434724 meters looking forward 0.000000 meters along route # Maximum depth: 524.434724 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 484.434724 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.903380; longitude = -117.333528; captureRadius = 10; duration = 50; initialDepth = 479.258272; finalDepth = 484.434724; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:484.434724 # Seafloor depth:-524.434724 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 156 # Segment length 50.765818 meters # Minimum depth: 519.258272 meters looking forward 0.000000 meters along route # Maximum depth: 519.258272 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 479.258272 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.903512; longitude = -117.332887; captureRadius = 10; duration = 50; initialDepth = 477.493699; finalDepth = 479.258272; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:479.258272 # Seafloor depth:-519.258272 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 156 # Segment length 50.765818 meters # Minimum depth: 517.493699 meters looking forward 0.000000 meters along route # Maximum depth: 517.493699 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 477.493699 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.903644; longitude = -117.332247; captureRadius = 10; duration = 50; initialDepth = 479.892308; finalDepth = 477.493699; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:477.493699 # Seafloor depth:-517.493699 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 156 # Segment length 50.765818 meters # Minimum depth: 519.892308 meters looking forward 0.000000 meters along route # Maximum depth: 519.892308 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 479.892308 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.903765; longitude = -117.331656; captureRadius = 10; duration = 50; initialDepth = 474.375034; finalDepth = 479.892308; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:479.892308 # Seafloor depth:-519.892308 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 156 # Segment length 50.765818 meters # Minimum depth: 514.375034 meters looking forward 0.000000 meters along route # Maximum depth: 514.375034 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 474.375034 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.903874; longitude = -117.331125; captureRadius = 10; duration = 50; initialDepth = 469.775790; finalDepth = 474.375034; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:474.375034 # Seafloor depth:-514.375034 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 156 # Segment length 50.765818 meters # Minimum depth: 509.775790 meters looking forward 0.000000 meters along route # Maximum depth: 509.775790 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 469.775790 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.904005; longitude = -117.330484; captureRadius = 10; duration = 50; initialDepth = 465.574738; finalDepth = 469.775790; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:469.77579 # Seafloor depth:-509.775790 # 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 155 # Segment length 50.765818 meters # Minimum depth: 505.574738 meters looking forward 0.000000 meters along route # Maximum depth: 505.574738 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 465.574738 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.904126; longitude = -117.329896; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 470.168019; finalDepth = 465.574738; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:465.574738 # Seafloor depth:-505.574738 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 155 # Segment length 50.765818 meters # Minimum depth: 510.168019 meters looking forward 0.000000 meters along route # Maximum depth: 510.168019 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 470.168019 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.904010; longitude = -117.329362; captureRadius = 10; duration = 50; initialDepth = 479.939776; finalDepth = 470.168019; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:470.168019 # Seafloor depth:-510.168019 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 155 # Segment length 50.765818 meters # Minimum depth: 519.939776 meters looking forward 0.000000 meters along route # Maximum depth: 519.939776 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 479.939776 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.903871; longitude = -117.328721; captureRadius = 10; duration = 50; initialDepth = 479.772386; finalDepth = 479.939776; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:479.939776 # Seafloor depth:-519.939776 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 155 # Segment length 50.765818 meters # Minimum depth: 519.772386 meters looking forward 0.000000 meters along route # Maximum depth: 519.772386 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 479.772386 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.903732; longitude = -117.328080; captureRadius = 10; duration = 50; initialDepth = 479.568011; finalDepth = 479.772386; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:479.772386 # Seafloor depth:-519.772386 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 155 # Segment length 50.765818 meters # Minimum depth: 519.568011 meters looking forward 0.000000 meters along route # Maximum depth: 519.568011 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 479.568011 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.903592; longitude = -117.327440; captureRadius = 10; duration = 50; initialDepth = 481.682334; finalDepth = 479.568011; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:479.568011 # Seafloor depth:-519.568011 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 155 # Segment length 50.765818 meters # Minimum depth: 521.682334 meters looking forward 0.000000 meters along route # Maximum depth: 521.682334 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 481.682334 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.903453; longitude = -117.326799; captureRadius = 10; duration = 50; initialDepth = 474.991243; finalDepth = 481.682334; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:481.682334 # Seafloor depth:-521.682334 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 155 # Segment length 50.765818 meters # Minimum depth: 514.991243 meters looking forward 0.000000 meters along route # Maximum depth: 514.991243 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 474.991243 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.903314; longitude = -117.326158; captureRadius = 10; duration = 50; initialDepth = 472.868446; finalDepth = 474.991243; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:474.991243 # Seafloor depth:-514.991243 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 155 # Segment length 50.765818 meters # Minimum depth: 512.868446 meters looking forward 0.000000 meters along route # Maximum depth: 512.868446 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 472.868446 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.903175; longitude = -117.325517; captureRadius = 10; duration = 50; initialDepth = 470.055292; finalDepth = 472.868446; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:472.868446 # Seafloor depth:-512.868446 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 155 # Segment length 50.765818 meters # Minimum depth: 510.055292 meters looking forward 0.000000 meters along route # Maximum depth: 510.055292 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 470.055292 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.903036; longitude = -117.324876; captureRadius = 10; duration = 50; initialDepth = 468.068901; finalDepth = 470.055292; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:470.055292 # Seafloor depth:-510.055292 # 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 154 # Segment length 50.765818 meters # Minimum depth: 508.068901 meters looking forward 0.000000 meters along route # Maximum depth: 508.068901 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 468.068901 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.902908; longitude = -117.324288; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 467.786313; finalDepth = 468.068901; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:468.068901 # Seafloor depth:-508.068901 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 154 # Segment length 50.765818 meters # Minimum depth: 507.786313 meters looking forward 0.000000 meters along route # Maximum depth: 507.786313 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 467.786313 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.902874; longitude = -117.324235; captureRadius = 10; duration = 50; initialDepth = 463.624554; finalDepth = 467.786313; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:467.786313 # Seafloor depth:-507.786313 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 154 # Segment length 50.765818 meters # Minimum depth: 503.624554 meters looking forward 0.000000 meters along route # Maximum depth: 503.624554 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 463.624554 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.902547; longitude = -117.323718; captureRadius = 10; duration = 50; initialDepth = 462.451093; finalDepth = 463.624554; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:463.624554 # Seafloor depth:-503.624554 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 154 # Segment length 50.765818 meters # Minimum depth: 502.451093 meters looking forward 0.000000 meters along route # Maximum depth: 502.451093 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 462.451093 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.902265; longitude = -117.323273; captureRadius = 10; duration = 50; initialDepth = 462.717258; finalDepth = 462.451093; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:462.451093 # Seafloor depth:-502.451093 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 154 # Segment length 50.765818 meters # Minimum depth: 502.717258 meters looking forward 0.000000 meters along route # Maximum depth: 502.717258 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 462.717258 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.901961; longitude = -117.322793; captureRadius = 10; duration = 50; initialDepth = 464.940469; finalDepth = 462.717258; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:462.717258 # Seafloor depth:-502.717258 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 154 # Segment length 50.765818 meters # Minimum depth: 504.940469 meters looking forward 0.000000 meters along route # Maximum depth: 504.940469 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 464.940469 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.901600; longitude = -117.322223; captureRadius = 10; duration = 50; initialDepth = 466.805923; finalDepth = 464.940469; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:464.940469 # Seafloor depth:-504.940469 # 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 153 # Segment length 50.765818 meters # Minimum depth: 506.805923 meters looking forward 0.000000 meters along route # Maximum depth: 506.805923 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 466.805923 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.901284; longitude = -117.321725; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 467.010332; finalDepth = 466.805923; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:466.805923 # Seafloor depth:-506.805923 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 153 # Segment length 50.765818 meters # Minimum depth: 507.010332 meters looking forward 0.000000 meters along route # Maximum depth: 507.010332 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 467.010332 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.901464; longitude = -117.321611; captureRadius = 10; duration = 50; initialDepth = 465.475858; finalDepth = 467.010332; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:467.010332 # Seafloor depth:-507.010332 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 153 # Segment length 50.765818 meters # Minimum depth: 505.475858 meters looking forward 0.000000 meters along route # Maximum depth: 505.475858 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 465.475858 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.901870; longitude = -117.321356; captureRadius = 10; duration = 50; initialDepth = 457.901481; finalDepth = 465.475858; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:465.475858 # Seafloor depth:-505.475858 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 153 # Segment length 50.765818 meters # Minimum depth: 497.901481 meters looking forward 0.000000 meters along route # Maximum depth: 497.901481 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 457.901481 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.902276; longitude = -117.321101; captureRadius = 10; duration = 50; initialDepth = 440.054382; finalDepth = 457.901481; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:457.901481 # Seafloor depth:-497.901481 # 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 152 # Segment length 50.765818 meters # Minimum depth: 480.054382 meters looking forward 0.000000 meters along route # Maximum depth: 480.054382 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 440.054382 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.902727; longitude = -117.320817; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 444.656417; finalDepth = 440.054382; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:440.054382 # Seafloor depth:-480.054382 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 50.765818 meters # Minimum depth: 484.656417 meters looking forward 0.000000 meters along route # Maximum depth: 484.656417 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 444.656417 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.902953; longitude = -117.320974; captureRadius = 10; duration = 50; initialDepth = 448.291211; finalDepth = 444.656417; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:444.656417 # Seafloor depth:-484.656417 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 50.765818 meters # Minimum depth: 488.291211 meters looking forward 0.000000 meters along route # Maximum depth: 488.291211 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 448.291211 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.903359; longitude = -117.321257; captureRadius = 10; duration = 50; initialDepth = 450.581397; finalDepth = 448.291211; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:448.291211 # Seafloor depth:-488.291211 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 50.765818 meters # Minimum depth: 490.581397 meters looking forward 0.000000 meters along route # Maximum depth: 490.581397 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 450.581397 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.903765; longitude = -117.321540; captureRadius = 10; duration = 50; initialDepth = 450.566863; finalDepth = 450.581397; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:450.581397 # Seafloor depth:-490.581397 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 50.765818 meters # Minimum depth: 490.566863 meters looking forward 0.000000 meters along route # Maximum depth: 490.566863 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 450.566863 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.904184; longitude = -117.321831; captureRadius = 10; duration = 50; initialDepth = 442.995416; finalDepth = 450.566863; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:450.566863 # Seafloor depth:-490.566863 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 50.765818 meters # Minimum depth: 482.995416 meters looking forward 0.000000 meters along route # Maximum depth: 482.995416 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 442.995416 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.904577; longitude = -117.322105; captureRadius = 10; duration = 50; initialDepth = 429.425201; finalDepth = 442.995416; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:442.995416 # Seafloor depth:-482.995416 # 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 151 # Segment length 50.765818 meters # Minimum depth: 469.425201 meters looking forward 0.000000 meters along route # Maximum depth: 469.425201 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 429.425201 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.905028; longitude = -117.322419; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 433.916140; finalDepth = 429.425201; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:429.425201 # Seafloor depth:-469.425201 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 151 # Segment length 50.765818 meters # Minimum depth: 473.916140 meters looking forward 0.000000 meters along route # Maximum depth: 473.916140 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 433.916140 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.905123; longitude = -117.322793; captureRadius = 10; duration = 50; initialDepth = 438.919041; finalDepth = 433.916140; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:433.91614 # Seafloor depth:-473.916140 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 151 # Segment length 50.765818 meters # Minimum depth: 478.919041 meters looking forward 0.000000 meters along route # Maximum depth: 478.919041 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 438.919041 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.905286; longitude = -117.323434; captureRadius = 10; duration = 50; initialDepth = 440.736884; finalDepth = 438.919041; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:438.919041 # Seafloor depth:-478.919041 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 151 # Segment length 50.765818 meters # Minimum depth: 480.736884 meters looking forward 0.000000 meters along route # Maximum depth: 480.736884 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 440.736884 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.905450; longitude = -117.324075; captureRadius = 10; duration = 50; initialDepth = 445.310722; finalDepth = 440.736884; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:440.736884 # Seafloor depth:-480.736884 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 151 # Segment length 50.765818 meters # Minimum depth: 485.310722 meters looking forward 0.000000 meters along route # Maximum depth: 485.310722 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 445.310722 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.905613; longitude = -117.324716; captureRadius = 10; duration = 50; initialDepth = 445.255737; finalDepth = 445.310722; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:445.310722 # Seafloor depth:-485.310722 # 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 150 # Segment length 50.765818 meters # Minimum depth: 485.255737 meters looking forward 0.000000 meters along route # Maximum depth: 485.255737 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 445.255737 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.905749; longitude = -117.325250; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 444.575776; finalDepth = 445.255737; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:445.255737 # Seafloor depth:-485.255737 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 150 # Segment length 50.765818 meters # Minimum depth: 484.575776 meters looking forward 0.000000 meters along route # Maximum depth: 484.575776 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 444.575776 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.905758; longitude = -117.325356; captureRadius = 10; duration = 50; initialDepth = 447.258325; finalDepth = 444.575776; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:444.575776 # Seafloor depth:-484.575776 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 150 # Segment length 50.765818 meters # Minimum depth: 487.258325 meters looking forward 0.000000 meters along route # Maximum depth: 487.258325 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 447.258325 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.905814; longitude = -117.325997; captureRadius = 10; duration = 50; initialDepth = 458.167729; finalDepth = 447.258325; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:447.258325 # Seafloor depth:-487.258325 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 150 # Segment length 50.765818 meters # Minimum depth: 498.167729 meters looking forward 0.000000 meters along route # Maximum depth: 498.167729 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 458.167729 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.905869; longitude = -117.326638; captureRadius = 10; duration = 50; initialDepth = 448.781898; finalDepth = 458.167729; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:458.167729 # Seafloor depth:-498.167729 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 150 # Segment length 50.765818 meters # Minimum depth: 488.781898 meters looking forward 0.000000 meters along route # Maximum depth: 488.781898 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 448.781898 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.905924; longitude = -117.327279; captureRadius = 10; duration = 50; initialDepth = 448.355759; finalDepth = 448.781898; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:448.781898 # Seafloor depth:-488.781898 # 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 149 # Segment length 50.765818 meters # Minimum depth: 488.355759 meters looking forward 0.000000 meters along route # Maximum depth: 488.355759 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 448.355759 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.905975; longitude = -117.327867; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 448.606585; finalDepth = 448.355759; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:448.355759 # Seafloor depth:-488.355759 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 149 # Segment length 50.765818 meters # Minimum depth: 488.606585 meters looking forward 0.000000 meters along route # Maximum depth: 488.606585 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 448.606585 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.905979; longitude = -117.327920; captureRadius = 10; duration = 50; initialDepth = 449.270600; finalDepth = 448.606585; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:448.606585 # Seafloor depth:-488.606585 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 149 # Segment length 50.765818 meters # Minimum depth: 489.270600 meters looking forward 0.000000 meters along route # Maximum depth: 489.270600 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 449.270600 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.906026; longitude = -117.328561; captureRadius = 10; duration = 50; initialDepth = 449.788138; finalDepth = 449.270600; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:449.2706 # Seafloor depth:-489.270600 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 149 # Segment length 50.765818 meters # Minimum depth: 489.788138 meters looking forward 0.000000 meters along route # Maximum depth: 489.788138 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 449.788138 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.906065; longitude = -117.329096; captureRadius = 10; duration = 50; initialDepth = 453.798999; finalDepth = 449.788138; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:449.788138 # Seafloor depth:-489.788138 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 149 # Segment length 50.765818 meters # Minimum depth: 493.798999 meters looking forward 0.000000 meters along route # Maximum depth: 493.798999 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 453.798999 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.906108; longitude = -117.329683; captureRadius = 10; duration = 50; initialDepth = 456.675878; finalDepth = 453.798999; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:453.798999 # Seafloor depth:-493.798999 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 149 # Segment length 50.765818 meters # Minimum depth: 496.675878 meters looking forward 0.000000 meters along route # Maximum depth: 496.675878 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 456.675878 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.906155; longitude = -117.330324; captureRadius = 10; duration = 50; initialDepth = 458.009154; finalDepth = 456.675878; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:456.675878 # Seafloor depth:-496.675878 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 149 # Segment length 50.765818 meters # Minimum depth: 498.009154 meters looking forward 0.000000 meters along route # Maximum depth: 498.009154 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 458.009154 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.906202; longitude = -117.330965; captureRadius = 10; duration = 50; initialDepth = 461.243645; finalDepth = 458.009154; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:458.009154 # Seafloor depth:-498.009154 # 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 148 # Segment length 50.765818 meters # Minimum depth: 501.243645 meters looking forward 0.000000 meters along route # Maximum depth: 501.243645 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 461.243645 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.906245; longitude = -117.331552; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 464.015143; finalDepth = 461.243645; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:461.243645 # Seafloor depth:-501.243645 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 148 # Segment length 50.765818 meters # Minimum depth: 504.015143 meters looking forward 0.000000 meters along route # Maximum depth: 504.015143 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 464.015143 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.906065; longitude = -117.331799; captureRadius = 10; duration = 50; initialDepth = 465.020502; finalDepth = 464.015143; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:464.015143 # Seafloor depth:-504.015143 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 148 # Segment length 50.765818 meters # Minimum depth: 505.020502 meters looking forward 0.000000 meters along route # Maximum depth: 505.020502 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 465.020502 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.905739; longitude = -117.332247; captureRadius = 10; duration = 50; initialDepth = 467.097145; finalDepth = 465.020502; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:465.020502 # Seafloor depth:-505.020502 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 148 # Segment length 50.765818 meters # Minimum depth: 507.097145 meters looking forward 0.000000 meters along route # Maximum depth: 507.097145 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 467.097145 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.905388; longitude = -117.332727; captureRadius = 10; duration = 50; initialDepth = 470.230766; finalDepth = 467.097145; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:467.097145 # Seafloor depth:-507.097145 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 148 # Segment length 50.765818 meters # Minimum depth: 510.230766 meters looking forward 0.000000 meters along route # Maximum depth: 510.230766 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 470.230766 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.904983; longitude = -117.333284; captureRadius = 10; duration = 50; initialDepth = 479.175519; finalDepth = 470.230766; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:470.230766 # Seafloor depth:-510.230766 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 148 # Segment length 50.765818 meters # Minimum depth: 519.175519 meters looking forward 0.000000 meters along route # Maximum depth: 519.175519 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 479.175519 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.904687; longitude = -117.333689; captureRadius = 10; duration = 50; initialDepth = 482.242916; finalDepth = 479.175519; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:479.175519 # Seafloor depth:-519.175519 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 148 # Segment length 50.765818 meters # Minimum depth: 522.242916 meters looking forward 0.000000 meters along route # Maximum depth: 522.242916 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 482.242916 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.904306; longitude = -117.334212; captureRadius = 10; duration = 50; initialDepth = 485.483565; finalDepth = 482.242916; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:482.242916 # Seafloor depth:-522.242916 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 148 # Segment length 50.765818 meters # Minimum depth: 525.483565 meters looking forward 0.000000 meters along route # Maximum depth: 525.483565 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 485.483565 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.903986; longitude = -117.334650; captureRadius = 10; duration = 50; initialDepth = 486.100418; finalDepth = 485.483565; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:485.483565 # Seafloor depth:-525.483565 # 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 147 # Segment length 50.765818 meters # Minimum depth: 526.100418 meters looking forward 0.000000 meters along route # Maximum depth: 526.100418 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 486.100418 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.903675; longitude = -117.335077; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 484.755900; finalDepth = 486.100418; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:486.100418 # Seafloor depth:-526.100418 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 147 # Segment length 50.765818 meters # Minimum depth: 524.755900 meters looking forward 0.000000 meters along route # Maximum depth: 524.755900 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 484.755900 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.903713; longitude = -117.335451; captureRadius = 10; duration = 50; initialDepth = 485.088952; finalDepth = 484.755900; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:484.7559 # Seafloor depth:-524.755900 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 147 # Segment length 50.765818 meters # Minimum depth: 525.088952 meters looking forward 0.000000 meters along route # Maximum depth: 525.088952 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 485.088952 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.903778; longitude = -117.336092; captureRadius = 10; duration = 50; initialDepth = 487.816745; finalDepth = 485.088952; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:485.088952 # Seafloor depth:-525.088952 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 147 # Segment length 50.765818 meters # Minimum depth: 527.816745 meters looking forward 0.000000 meters along route # Maximum depth: 527.816745 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 487.816745 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.903842; longitude = -117.336733; captureRadius = 10; duration = 50; initialDepth = 490.026596; finalDepth = 487.816745; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:487.816745 # Seafloor depth:-527.816745 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 147 # Segment length 50.765818 meters # Minimum depth: 530.026596 meters looking forward 0.000000 meters along route # Maximum depth: 530.026596 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 490.026596 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.903900; longitude = -117.337303; captureRadius = 10; duration = 50; initialDepth = 490.154194; finalDepth = 490.026596; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:490.026596 # Seafloor depth:-530.026596 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 147 # Segment length 50.765818 meters # Minimum depth: 530.154194 meters looking forward 0.000000 meters along route # Maximum depth: 530.154194 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 490.154194 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.903956; longitude = -117.337855; captureRadius = 10; duration = 50; initialDepth = 491.273579; finalDepth = 490.154194; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:490.154194 # Seafloor depth:-530.154194 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 147 # Segment length 50.765818 meters # Minimum depth: 531.273579 meters looking forward 0.000000 meters along route # Maximum depth: 531.273579 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 491.273579 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.904021; longitude = -117.338496; captureRadius = 10; duration = 50; initialDepth = 499.242065; finalDepth = 491.273579; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:491.273579 # Seafloor depth:-531.273579 # 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 146 # Segment length 50.765818 meters # Minimum depth: 539.242065 meters looking forward 0.000000 meters along route # Maximum depth: 539.242065 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 499.242065 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.904080; longitude = -117.339083; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 500.825864; finalDepth = 499.242065; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:499.242065 # Seafloor depth:-539.242065 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 146 # Segment length 50.765818 meters # Minimum depth: 540.825864 meters looking forward 0.000000 meters along route # Maximum depth: 540.825864 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 500.825864 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.904171; longitude = -117.339165; captureRadius = 10; duration = 50; initialDepth = 498.894321; finalDepth = 500.825864; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:500.825864 # Seafloor depth:-540.825864 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 146 # Segment length 50.765818 meters # Minimum depth: 538.894321 meters looking forward 0.000000 meters along route # Maximum depth: 538.894321 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 498.894321 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.904577; longitude = -117.339534; captureRadius = 10; duration = 50; initialDepth = 498.643804; finalDepth = 498.894321; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:498.894321 # Seafloor depth:-538.894321 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 146 # Segment length 50.765818 meters # Minimum depth: 538.643804 meters looking forward 0.000000 meters along route # Maximum depth: 538.643804 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 498.643804 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.905021; longitude = -117.339938; captureRadius = 10; duration = 50; initialDepth = 498.272430; finalDepth = 498.643804; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:498.643804 # Seafloor depth:-538.643804 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 146 # Segment length 50.765818 meters # Minimum depth: 538.272430 meters looking forward 0.000000 meters along route # Maximum depth: 538.272430 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 498.272430 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.905388; longitude = -117.340271; captureRadius = 10; duration = 50; initialDepth = 490.962693; finalDepth = 498.272430; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:498.27243 # Seafloor depth:-538.272430 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 146 # Segment length 50.765818 meters # Minimum depth: 530.962693 meters looking forward 0.000000 meters along route # Maximum depth: 530.962693 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 490.962693 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.905794; longitude = -117.340640; captureRadius = 10; duration = 50; initialDepth = 487.106654; finalDepth = 490.962693; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:490.962693 # Seafloor depth:-530.962693 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 146 # Segment length 50.765818 meters # Minimum depth: 527.106654 meters looking forward 0.000000 meters along route # Maximum depth: 527.106654 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 487.106654 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.906200; longitude = -117.341009; captureRadius = 10; duration = 50; initialDepth = 488.626878; finalDepth = 487.106654; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:487.106654 # Seafloor depth:-527.106654 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 146 # Segment length 50.765818 meters # Minimum depth: 528.626878 meters looking forward 0.000000 meters along route # Maximum depth: 528.626878 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 488.626878 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.906609; longitude = -117.341380; captureRadius = 10; duration = 50; initialDepth = 490.031720; finalDepth = 488.626878; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:488.626878 # Seafloor depth:-528.626878 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 146 # Segment length 50.765818 meters # Minimum depth: 530.031720 meters looking forward 0.000000 meters along route # Maximum depth: 530.031720 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 490.031720 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.907012; longitude = -117.341746; captureRadius = 10; duration = 50; initialDepth = 489.320999; finalDepth = 490.031720; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:490.03172 # Seafloor depth:-530.031720 # 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 145 # Segment length 50.765818 meters # Minimum depth: 529.320999 meters looking forward 0.000000 meters along route # Maximum depth: 529.320999 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 489.320999 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.907373; longitude = -117.342074; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 488.979274; finalDepth = 489.320999; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:489.320999 # Seafloor depth:-529.320999 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 145 # Segment length 50.765818 meters # Minimum depth: 528.979274 meters looking forward 0.000000 meters along route # Maximum depth: 528.979274 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 488.979274 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.907445; longitude = -117.342181; captureRadius = 10; duration = 50; initialDepth = 487.811283; finalDepth = 488.979274; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:488.979274 # Seafloor depth:-528.979274 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 145 # Segment length 50.765818 meters # Minimum depth: 527.811283 meters looking forward 0.000000 meters along route # Maximum depth: 527.811283 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 487.811283 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.907770; longitude = -117.342662; captureRadius = 10; duration = 50; initialDepth = 488.647848; finalDepth = 487.811283; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:487.811283 # Seafloor depth:-527.811283 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 145 # Segment length 50.765818 meters # Minimum depth: 528.647848 meters looking forward 0.000000 meters along route # Maximum depth: 528.647848 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 488.647848 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.908095; longitude = -117.343142; captureRadius = 10; duration = 50; initialDepth = 496.314869; finalDepth = 488.647848; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:488.647848 # Seafloor depth:-528.647848 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 145 # Segment length 50.765818 meters # Minimum depth: 536.314869 meters looking forward 0.000000 meters along route # Maximum depth: 536.314869 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 496.314869 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.908419; longitude = -117.343623; captureRadius = 10; duration = 50; initialDepth = 505.959539; finalDepth = 496.314869; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:496.314869 # Seafloor depth:-536.314869 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 145 # Segment length 50.765818 meters # Minimum depth: 545.959539 meters looking forward 0.000000 meters along route # Maximum depth: 545.959539 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 505.959539 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.908771; longitude = -117.344144; captureRadius = 10; duration = 50; initialDepth = 508.671206; finalDepth = 505.959539; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:505.959539 # Seafloor depth:-545.959539 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 145 # Segment length 50.765818 meters # Minimum depth: 548.671206 meters looking forward 0.000000 meters along route # Maximum depth: 548.671206 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 508.671206 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.909069; longitude = -117.344585; captureRadius = 10; duration = 50; initialDepth = 511.809221; finalDepth = 508.671206; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:508.671206 # Seafloor depth:-548.671206 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 145 # Segment length 50.765818 meters # Minimum depth: 551.809221 meters looking forward 0.000000 meters along route # Maximum depth: 551.809221 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 511.809221 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.909394; longitude = -117.345065; captureRadius = 10; duration = 50; initialDepth = 513.750152; finalDepth = 511.809221; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:511.809221 # Seafloor depth:-551.809221 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 145 # Segment length 50.765818 meters # Minimum depth: 553.750152 meters looking forward 0.000000 meters along route # Maximum depth: 553.750152 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 513.750152 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.909718; longitude = -117.345546; captureRadius = 10; duration = 50; initialDepth = 513.186966; finalDepth = 513.750152; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:513.750152 # Seafloor depth:-553.750152 # 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 144 # Segment length 50.765818 meters # Minimum depth: 553.186966 meters looking forward 0.000000 meters along route # Maximum depth: 553.186966 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 513.186966 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.910079; longitude = -117.346080; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 514.020499; finalDepth = 513.186966; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:513.186966 # Seafloor depth:-553.186966 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 144 # Segment length 50.765818 meters # Minimum depth: 554.020499 meters looking forward 0.000000 meters along route # Maximum depth: 554.020499 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 514.020499 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.910395; longitude = -117.346548; captureRadius = 10; duration = 50; initialDepth = 518.829060; finalDepth = 514.020499; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:514.020499 # Seafloor depth:-554.020499 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 144 # Segment length 50.765818 meters # Minimum depth: 558.829060 meters looking forward 0.000000 meters along route # Maximum depth: 558.829060 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 518.829060 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.910692; longitude = -117.346988; captureRadius = 10; duration = 50; initialDepth = 522.737536; finalDepth = 518.829060; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:518.82906 # Seafloor depth:-558.829060 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 144 # Segment length 50.765818 meters # Minimum depth: 562.737536 meters looking forward 0.000000 meters along route # Maximum depth: 562.737536 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 522.737536 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911017; longitude = -117.347469; captureRadius = 10; duration = 50; initialDepth = 520.449527; finalDepth = 522.737536; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:522.737536 # Seafloor depth:-562.737536 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 144 # Segment length 50.765818 meters # Minimum depth: 560.449527 meters looking forward 0.000000 meters along route # Maximum depth: 560.449527 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 520.449527 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911342; longitude = -117.347950; captureRadius = 10; duration = 50; initialDepth = 518.588089; finalDepth = 520.449527; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:520.449527 # Seafloor depth:-560.449527 # 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 143 # Segment length 50.765818 meters # Minimum depth: 558.588089 meters looking forward 0.000000 meters along route # Maximum depth: 558.588089 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 518.588089 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911703; longitude = -117.348484; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 518.583681; finalDepth = 518.588089; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:518.588089 # Seafloor depth:-558.588089 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 143 # Segment length 50.765818 meters # Minimum depth: 558.583681 meters looking forward 0.000000 meters along route # Maximum depth: 558.583681 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 518.583681 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911758; longitude = -117.348590; captureRadius = 10; duration = 50; initialDepth = 522.034640; finalDepth = 518.583681; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:518.583681 # Seafloor depth:-558.583681 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 143 # Segment length 50.765818 meters # Minimum depth: 562.034640 meters looking forward 0.000000 meters along route # Maximum depth: 562.034640 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 522.034640 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912019; longitude = -117.349091; captureRadius = 10; duration = 50; initialDepth = 523.024931; finalDepth = 522.034640; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:522.03464 # Seafloor depth:-562.034640 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 143 # Segment length 50.765818 meters # Minimum depth: 563.024931 meters looking forward 0.000000 meters along route # Maximum depth: 563.024931 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 523.024931 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912258; longitude = -117.349552; captureRadius = 10; duration = 50; initialDepth = 526.269942; finalDepth = 523.024931; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:523.024931 # Seafloor depth:-563.024931 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 143 # Segment length 50.765818 meters # Minimum depth: 566.269942 meters looking forward 0.000000 meters along route # Maximum depth: 566.269942 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 526.269942 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912508; longitude = -117.350032; captureRadius = 10; duration = 50; initialDepth = 529.877670; finalDepth = 526.269942; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:526.269942 # Seafloor depth:-566.269942 # 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 142 # Segment length 50.765818 meters # Minimum depth: 569.877670 meters looking forward 0.000000 meters along route # Maximum depth: 569.877670 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 529.877670 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912786; longitude = -117.350567; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 527.328201; finalDepth = 529.877670; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:529.87767 # Seafloor depth:-569.877670 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 142 # Segment length 50.765818 meters # Minimum depth: 567.328201 meters looking forward 0.000000 meters along route # Maximum depth: 567.328201 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 527.328201 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912951; longitude = -117.351154; captureRadius = 10; duration = 50; initialDepth = 529.527118; finalDepth = 527.328201; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:527.328201 # Seafloor depth:-567.328201 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 142 # Segment length 50.765818 meters # Minimum depth: 569.527118 meters looking forward 0.000000 meters along route # Maximum depth: 569.527118 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 529.527118 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913101; longitude = -117.351688; captureRadius = 10; duration = 50; initialDepth = 528.270917; finalDepth = 529.527118; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:529.527118 # Seafloor depth:-569.527118 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 142 # Segment length 50.765818 meters # Minimum depth: 568.270917 meters looking forward 0.000000 meters along route # Maximum depth: 568.270917 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 528.270917 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913267; longitude = -117.352276; captureRadius = 10; duration = 50; initialDepth = 531.378559; finalDepth = 528.270917; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:528.270917 # Seafloor depth:-568.270917 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 142 # Segment length 50.765818 meters # Minimum depth: 571.378559 meters looking forward 0.000000 meters along route # Maximum depth: 571.378559 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 531.378559 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913447; longitude = -117.352917; captureRadius = 10; duration = 50; initialDepth = 535.674988; finalDepth = 531.378559; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:531.378559 # Seafloor depth:-571.378559 # 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 141 # Segment length 50.765818 meters # Minimum depth: 575.674988 meters looking forward 0.000000 meters along route # Maximum depth: 575.674988 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 535.674988 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913597; longitude = -117.353451; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 536.627323; finalDepth = 535.674988; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:535.674988 # Seafloor depth:-575.674988 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 141 # Segment length 50.765818 meters # Minimum depth: 576.627323 meters looking forward 0.000000 meters along route # Maximum depth: 576.627323 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 536.627323 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913689; longitude = -117.353718; captureRadius = 10; duration = 50; initialDepth = 538.587492; finalDepth = 536.627323; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:536.627323 # Seafloor depth:-576.627323 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 141 # Segment length 50.765818 meters # Minimum depth: 578.587492 meters looking forward 0.000000 meters along route # Maximum depth: 578.587492 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 538.587492 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913913; longitude = -117.354368; captureRadius = 10; duration = 50; initialDepth = 540.317914; finalDepth = 538.587492; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:538.587492 # Seafloor depth:-578.587492 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 141 # Segment length 50.765818 meters # Minimum depth: 580.317914 meters looking forward 0.000000 meters along route # Maximum depth: 580.317914 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 540.317914 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914131; longitude = -117.355000; captureRadius = 10; duration = 50; initialDepth = 541.358133; finalDepth = 540.317914; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:540.317914 # Seafloor depth:-580.317914 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 141 # Segment length 50.765818 meters # Minimum depth: 581.358133 meters looking forward 0.000000 meters along route # Maximum depth: 581.358133 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 541.358133 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914319; longitude = -117.355546; captureRadius = 10; duration = 50; initialDepth = 541.845840; finalDepth = 541.358133; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:541.358133 # Seafloor depth:-581.358133 # 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 140 # Segment length 50.765818 meters # Minimum depth: 581.845840 meters looking forward 0.000000 meters along route # Maximum depth: 581.845840 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 541.845840 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914499; longitude = -117.356068; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 542.403992; finalDepth = 541.845840; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:541.84584 # Seafloor depth:-581.845840 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 140 # Segment length 50.765818 meters # Minimum depth: 582.403992 meters looking forward 0.000000 meters along route # Maximum depth: 582.403992 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 542.403992 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914505; longitude = -117.356442; captureRadius = 10; duration = 50; initialDepth = 545.502630; finalDepth = 542.403992; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:542.403992 # Seafloor depth:-582.403992 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 140 # Segment length 50.765818 meters # Minimum depth: 585.502630 meters looking forward 0.000000 meters along route # Maximum depth: 585.502630 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 545.502630 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914515; longitude = -117.357083; captureRadius = 10; duration = 50; initialDepth = 545.191486; finalDepth = 545.502630; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:545.50263 # Seafloor depth:-585.502630 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 140 # Segment length 50.765818 meters # Minimum depth: 585.191486 meters looking forward 0.000000 meters along route # Maximum depth: 585.191486 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 545.191486 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914524; longitude = -117.357724; captureRadius = 10; duration = 50; initialDepth = 545.753013; finalDepth = 545.191486; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:545.191486 # Seafloor depth:-585.191486 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 140 # Segment length 50.765818 meters # Minimum depth: 585.753013 meters looking forward 0.000000 meters along route # Maximum depth: 585.753013 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 545.753013 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914534; longitude = -117.358365; captureRadius = 10; duration = 50; initialDepth = 548.440033; finalDepth = 545.753013; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:545.753013 # Seafloor depth:-585.753013 # 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 139 # Segment length 50.765818 meters # Minimum depth: 588.440033 meters looking forward 0.000000 meters along route # Maximum depth: 588.440033 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 548.440033 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914545; longitude = -117.359059; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 551.036325; finalDepth = 548.440033; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:548.440033 # Seafloor depth:-588.440033 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 139 # Segment length 50.765818 meters # Minimum depth: 591.036325 meters looking forward 0.000000 meters along route # Maximum depth: 591.036325 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 551.036325 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914496; longitude = -117.359486; captureRadius = 10; duration = 50; initialDepth = 552.550939; finalDepth = 551.036325; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:551.036325 # Seafloor depth:-591.036325 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 139 # Segment length 50.765818 meters # Minimum depth: 592.550939 meters looking forward 0.000000 meters along route # Maximum depth: 592.550939 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 552.550939 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914422; longitude = -117.360127; captureRadius = 10; duration = 50; initialDepth = 555.051071; finalDepth = 552.550939; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:552.550939 # Seafloor depth:-592.550939 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 139 # Segment length 50.765818 meters # Minimum depth: 595.051071 meters looking forward 0.000000 meters along route # Maximum depth: 595.051071 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 555.051071 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914348; longitude = -117.360768; captureRadius = 10; duration = 50; initialDepth = 556.660991; finalDepth = 555.051071; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:555.051071 # Seafloor depth:-595.051071 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 139 # Segment length 50.765818 meters # Minimum depth: 596.660991 meters looking forward 0.000000 meters along route # Maximum depth: 596.660991 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 556.660991 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914274; longitude = -117.361409; captureRadius = 10; duration = 50; initialDepth = 556.522125; finalDepth = 556.660991; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:556.660991 # Seafloor depth:-596.660991 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 139 # Segment length 50.765818 meters # Minimum depth: 596.522125 meters looking forward 0.000000 meters along route # Maximum depth: 596.522125 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 556.522125 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914201; longitude = -117.362050; captureRadius = 10; duration = 50; initialDepth = 559.830597; finalDepth = 556.522125; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:556.522125 # Seafloor depth:-596.522125 # 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 138 # Segment length 50.765818 meters # Minimum depth: 599.830597 meters looking forward 0.000000 meters along route # Maximum depth: 599.830597 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 559.830597 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914139; longitude = -117.362584; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 559.628888; finalDepth = 559.830597; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:559.830597 # Seafloor depth:-599.830597 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 138 # Segment length 50.765818 meters # Minimum depth: 599.628888 meters looking forward 0.000000 meters along route # Maximum depth: 599.628888 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 559.628888 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914124; longitude = -117.362691; captureRadius = 10; duration = 50; initialDepth = 554.694924; finalDepth = 559.628888; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:559.628888 # Seafloor depth:-599.628888 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 138 # Segment length 50.765818 meters # Minimum depth: 594.694924 meters looking forward 0.000000 meters along route # Maximum depth: 594.694924 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 554.694924 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914048; longitude = -117.363250; captureRadius = 10; duration = 50; initialDepth = 556.208006; finalDepth = 554.694924; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:554.694924 # Seafloor depth:-594.694924 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 138 # Segment length 50.765818 meters # Minimum depth: 596.208006 meters looking forward 0.000000 meters along route # Maximum depth: 596.208006 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 556.208006 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913972; longitude = -117.363813; captureRadius = 10; duration = 50; initialDepth = 557.005166; finalDepth = 556.208006; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:556.208006 # Seafloor depth:-596.208006 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 138 # Segment length 50.765818 meters # Minimum depth: 597.005166 meters looking forward 0.000000 meters along route # Maximum depth: 597.005166 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 557.005166 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913885; longitude = -117.364453; captureRadius = 10; duration = 50; initialDepth = 558.718358; finalDepth = 557.005166; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:557.005166 # Seafloor depth:-597.005166 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 138 # Segment length 50.765818 meters # Minimum depth: 598.718358 meters looking forward 0.000000 meters along route # Maximum depth: 598.718358 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 558.718358 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913798; longitude = -117.365094; captureRadius = 10; duration = 50; initialDepth = 560.539285; finalDepth = 558.718358; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:558.718358 # Seafloor depth:-598.718358 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 138 # Segment length 50.765818 meters # Minimum depth: 600.539285 meters looking forward 0.000000 meters along route # Maximum depth: 600.539285 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 560.539285 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913711; longitude = -117.365735; captureRadius = 10; duration = 50; initialDepth = 561.882794; finalDepth = 560.539285; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:560.539285 # Seafloor depth:-600.539285 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 138 # Segment length 50.765818 meters # Minimum depth: 601.882794 meters looking forward 0.000000 meters along route # Maximum depth: 601.882794 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 561.882794 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913623; longitude = -117.366376; captureRadius = 10; duration = 50; initialDepth = 563.926602; finalDepth = 561.882794; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:561.882794 # Seafloor depth:-601.882794 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 138 # Segment length 50.765818 meters # Minimum depth: 603.926602 meters looking forward 0.000000 meters along route # Maximum depth: 603.926602 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 563.926602 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913536; longitude = -117.367017; captureRadius = 10; duration = 50; initialDepth = 565.844891; finalDepth = 563.926602; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:563.926602 # Seafloor depth:-603.926602 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 138 # Segment length 50.765818 meters # Minimum depth: 605.844891 meters looking forward 0.000000 meters along route # Maximum depth: 605.844891 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 565.844891 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913449; longitude = -117.367658; captureRadius = 10; duration = 50; initialDepth = 569.154061; finalDepth = 565.844891; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:565.844891 # Seafloor depth:-605.844891 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 138 # Segment length 50.765818 meters # Minimum depth: 609.154061 meters looking forward 0.000000 meters along route # Maximum depth: 609.154061 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 569.154061 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913362; longitude = -117.368299; captureRadius = 10; duration = 50; initialDepth = 569.573471; finalDepth = 569.154061; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:569.154061 # Seafloor depth:-609.154061 # 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 137 # Segment length 50.765818 meters # Minimum depth: 609.573471 meters looking forward 0.000000 meters along route # Maximum depth: 609.573471 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 569.573471 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913282; longitude = -117.368887; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 569.936335; finalDepth = 569.573471; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:569.573471 # Seafloor depth:-609.573471 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 137 # Segment length 50.765818 meters # Minimum depth: 609.936335 meters looking forward 0.000000 meters along route # Maximum depth: 609.936335 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 569.936335 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913642; longitude = -117.369172; captureRadius = 10; duration = 50; initialDepth = 566.494887; finalDepth = 569.936335; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:569.936335 # Seafloor depth:-609.936335 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 137 # Segment length 50.765818 meters # Minimum depth: 606.494887 meters looking forward 0.000000 meters along route # Maximum depth: 606.494887 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 566.494887 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914048; longitude = -117.369492; captureRadius = 10; duration = 50; initialDepth = 561.900058; finalDepth = 566.494887; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:566.494887 # Seafloor depth:-606.494887 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 137 # Segment length 50.765818 meters # Minimum depth: 601.900058 meters looking forward 0.000000 meters along route # Maximum depth: 601.900058 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 561.900058 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914454; longitude = -117.369812; captureRadius = 10; duration = 50; initialDepth = 549.425581; finalDepth = 561.900058; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:561.900058 # Seafloor depth:-601.900058 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 137 # Segment length 50.765818 meters # Minimum depth: 589.425581 meters looking forward 0.000000 meters along route # Maximum depth: 589.425581 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 549.425581 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914860; longitude = -117.370133; captureRadius = 10; duration = 50; initialDepth = 539.136267; finalDepth = 549.425581; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:549.425581 # Seafloor depth:-589.425581 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 137 # Segment length 50.765818 meters # Minimum depth: 579.136267 meters looking forward 0.000000 meters along route # Maximum depth: 579.136267 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 539.136267 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915266; longitude = -117.370453; captureRadius = 10; duration = 50; initialDepth = 533.100696; finalDepth = 539.136267; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:539.136267 # Seafloor depth:-579.136267 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 137 # Segment length 50.765818 meters # Minimum depth: 573.100696 meters looking forward 0.000000 meters along route # Maximum depth: 573.100696 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 533.100696 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915672; longitude = -117.370774; captureRadius = 10; duration = 50; initialDepth = 533.289268; finalDepth = 533.100696; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:533.100696 # Seafloor depth:-573.100696 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 137 # Segment length 50.765818 meters # Minimum depth: 573.289268 meters looking forward 0.000000 meters along route # Maximum depth: 573.289268 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 533.289268 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.916078; longitude = -117.371094; captureRadius = 10; duration = 50; initialDepth = 531.906830; finalDepth = 533.289268; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:533.289268 # Seafloor depth:-573.289268 # 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 136 # Segment length 50.765818 meters # Minimum depth: 571.906830 meters looking forward 0.000000 meters along route # Maximum depth: 571.906830 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 531.906830 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.916529; longitude = -117.371450; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 531.749142; finalDepth = 531.906830; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:531.90683 # Seafloor depth:-571.906830 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 136 # Segment length 50.765818 meters # Minimum depth: 571.749142 meters looking forward 0.000000 meters along route # Maximum depth: 571.749142 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 531.749142 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.916692; longitude = -117.371824; captureRadius = 10; duration = 50; initialDepth = 533.724547; finalDepth = 531.749142; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:531.749142 # Seafloor depth:-571.749142 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 136 # Segment length 50.765818 meters # Minimum depth: 573.724547 meters looking forward 0.000000 meters along route # Maximum depth: 573.724547 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 533.724547 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.916901; longitude = -117.372305; captureRadius = 10; duration = 50; initialDepth = 534.429426; finalDepth = 533.724547; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:533.724547 # Seafloor depth:-573.724547 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 136 # Segment length 50.765818 meters # Minimum depth: 574.429426 meters looking forward 0.000000 meters along route # Maximum depth: 574.429426 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 534.429426 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.917110; longitude = -117.372786; captureRadius = 10; duration = 50; initialDepth = 535.003192; finalDepth = 534.429426; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:534.429426 # Seafloor depth:-574.429426 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 136 # Segment length 50.765818 meters # Minimum depth: 575.003192 meters looking forward 0.000000 meters along route # Maximum depth: 575.003192 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 535.003192 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.917319; longitude = -117.373266; captureRadius = 10; duration = 50; initialDepth = 536.281732; finalDepth = 535.003192; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:535.003192 # Seafloor depth:-575.003192 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 136 # Segment length 50.765818 meters # Minimum depth: 576.281732 meters looking forward 0.000000 meters along route # Maximum depth: 576.281732 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 536.281732 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.917528; longitude = -117.373747; captureRadius = 10; duration = 50; initialDepth = 538.142779; finalDepth = 536.281732; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:536.281732 # Seafloor depth:-576.281732 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 136 # Segment length 50.765818 meters # Minimum depth: 578.142779 meters looking forward 0.000000 meters along route # Maximum depth: 578.142779 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 538.142779 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.917737; longitude = -117.374228; captureRadius = 10; duration = 50; initialDepth = 537.425906; finalDepth = 538.142779; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:538.142779 # Seafloor depth:-578.142779 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 136 # Segment length 50.765818 meters # Minimum depth: 577.425906 meters looking forward 0.000000 meters along route # Maximum depth: 577.425906 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 537.425906 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.917946; longitude = -117.374708; captureRadius = 10; duration = 50; initialDepth = 539.924659; finalDepth = 537.425906; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:537.425906 # Seafloor depth:-577.425906 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 136 # Segment length 50.765818 meters # Minimum depth: 579.924659 meters looking forward 0.000000 meters along route # Maximum depth: 579.924659 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 539.924659 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.918155; longitude = -117.375189; captureRadius = 10; duration = 50; initialDepth = 540.012282; finalDepth = 539.924659; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:539.924659 # Seafloor depth:-579.924659 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 136 # Segment length 50.765818 meters # Minimum depth: 580.012282 meters looking forward 0.000000 meters along route # Maximum depth: 580.012282 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 540.012282 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.918364; longitude = -117.375670; captureRadius = 10; duration = 50; initialDepth = 540.921746; finalDepth = 540.012282; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:540.012282 # Seafloor depth:-580.012282 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 136 # Segment length 50.765818 meters # Minimum depth: 580.921746 meters looking forward 0.000000 meters along route # Maximum depth: 580.921746 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 540.921746 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.918573; longitude = -117.376151; captureRadius = 10; duration = 50; initialDepth = 541.681686; finalDepth = 540.921746; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:540.921746 # Seafloor depth:-580.921746 # 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 135 # Segment length 50.765818 meters # Minimum depth: 581.681686 meters looking forward 0.000000 meters along route # Maximum depth: 581.681686 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 541.681686 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.918829; longitude = -117.376738; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 541.784200; finalDepth = 541.681686; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:541.681686 # Seafloor depth:-581.681686 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 135 # Segment length 50.765818 meters # Minimum depth: 581.784200 meters looking forward 0.000000 meters along route # Maximum depth: 581.784200 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 541.784200 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.918872; longitude = -117.376952; captureRadius = 10; duration = 50; initialDepth = 542.605296; finalDepth = 541.784200; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:541.7842 # Seafloor depth:-581.784200 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 135 # Segment length 50.765818 meters # Minimum depth: 582.605296 meters looking forward 0.000000 meters along route # Maximum depth: 582.605296 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 542.605296 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.919001; longitude = -117.377593; captureRadius = 10; duration = 50; initialDepth = 545.085174; finalDepth = 542.605296; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:542.605296 # Seafloor depth:-582.605296 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 135 # Segment length 50.765818 meters # Minimum depth: 585.085174 meters looking forward 0.000000 meters along route # Maximum depth: 585.085174 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 545.085174 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.919130; longitude = -117.378234; captureRadius = 10; duration = 50; initialDepth = 545.468242; finalDepth = 545.085174; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:545.085174 # Seafloor depth:-585.085174 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 135 # Segment length 50.765818 meters # Minimum depth: 585.468242 meters looking forward 0.000000 meters along route # Maximum depth: 585.468242 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 545.468242 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.919259; longitude = -117.378875; captureRadius = 10; duration = 50; initialDepth = 551.091218; finalDepth = 545.468242; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:545.468242 # Seafloor depth:-585.468242 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 135 # Segment length 50.765818 meters # Minimum depth: 591.091218 meters looking forward 0.000000 meters along route # Maximum depth: 591.091218 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 551.091218 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.919388; longitude = -117.379515; captureRadius = 10; duration = 50; initialDepth = 560.575958; finalDepth = 551.091218; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:551.091218 # Seafloor depth:-591.091218 # 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 134 # Segment length 50.765818 meters # Minimum depth: 600.575958 meters looking forward 0.000000 meters along route # Maximum depth: 600.575958 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 560.575958 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.919506; longitude = -117.380103; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 561.700908; finalDepth = 560.575958; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:560.575958 # Seafloor depth:-600.575958 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 134 # Segment length 50.765818 meters # Minimum depth: 601.700908 meters looking forward 0.000000 meters along route # Maximum depth: 601.700908 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 561.700908 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.919544; longitude = -117.380317; captureRadius = 10; duration = 50; initialDepth = 561.703366; finalDepth = 561.700908; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:561.700908 # Seafloor depth:-601.700908 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 134 # Segment length 50.765818 meters # Minimum depth: 601.703366 meters looking forward 0.000000 meters along route # Maximum depth: 601.703366 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 561.703366 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.919656; longitude = -117.380958; captureRadius = 10; duration = 50; initialDepth = 569.522274; finalDepth = 561.703366; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:561.703366 # Seafloor depth:-601.703366 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 134 # Segment length 50.765818 meters # Minimum depth: 609.522274 meters looking forward 0.000000 meters along route # Maximum depth: 609.522274 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 569.522274 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.919769; longitude = -117.381598; captureRadius = 10; duration = 50; initialDepth = 571.411157; finalDepth = 569.522274; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:569.522274 # Seafloor depth:-609.522274 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 134 # Segment length 50.765818 meters # Minimum depth: 611.411157 meters looking forward 0.000000 meters along route # Maximum depth: 611.411157 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 571.411157 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.919867; longitude = -117.382153; captureRadius = 10; duration = 50; initialDepth = 572.867748; finalDepth = 571.411157; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:571.411157 # Seafloor depth:-611.411157 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 134 # Segment length 50.765818 meters # Minimum depth: 612.867748 meters looking forward 0.000000 meters along route # Maximum depth: 612.867748 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 572.867748 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.919967; longitude = -117.382720; captureRadius = 10; duration = 50; initialDepth = 576.373346; finalDepth = 572.867748; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:572.867748 # Seafloor depth:-612.867748 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 134 # Segment length 50.765818 meters # Minimum depth: 616.373346 meters looking forward 0.000000 meters along route # Maximum depth: 616.373346 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 576.373346 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.920080; longitude = -117.383361; captureRadius = 10; duration = 50; initialDepth = 579.433960; finalDepth = 576.373346; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:576.373346 # Seafloor depth:-616.373346 # 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 133 # Segment length 50.765818 meters # Minimum depth: 619.433960 meters looking forward 0.000000 meters along route # Maximum depth: 619.433960 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 579.433960 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.920183; longitude = -117.383949; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 579.823932; finalDepth = 579.433960; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:579.43396 # Seafloor depth:-619.433960 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 133 # Segment length 50.765818 meters # Minimum depth: 619.823932 meters looking forward 0.000000 meters along route # Maximum depth: 619.823932 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 579.823932 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.920340; longitude = -117.384162; captureRadius = 10; duration = 50; initialDepth = 579.603146; finalDepth = 579.823932; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:579.823932 # Seafloor depth:-619.823932 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 133 # Segment length 50.765818 meters # Minimum depth: 619.603146 meters looking forward 0.000000 meters along route # Maximum depth: 619.603146 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 579.603146 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.920695; longitude = -117.384643; captureRadius = 10; duration = 50; initialDepth = 581.824356; finalDepth = 579.603146; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:579.603146 # Seafloor depth:-619.603146 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 133 # Segment length 50.765818 meters # Minimum depth: 621.824356 meters looking forward 0.000000 meters along route # Maximum depth: 621.824356 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 581.824356 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.921085; longitude = -117.385170; captureRadius = 10; duration = 50; initialDepth = 585.710251; finalDepth = 581.824356; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:581.824356 # Seafloor depth:-621.824356 # 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 132 # Segment length 50.765818 meters # Minimum depth: 625.710251 meters looking forward 0.000000 meters along route # Maximum depth: 625.710251 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 585.710251 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.921445; longitude = -117.385658; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 589.161207; finalDepth = 585.710251; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:585.710251 # Seafloor depth:-625.710251 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 132 # Segment length 50.765818 meters # Minimum depth: 629.161207 meters looking forward 0.000000 meters along route # Maximum depth: 629.161207 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 589.161207 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.921671; longitude = -117.386245; captureRadius = 10; duration = 50; initialDepth = 593.143773; finalDepth = 589.161207; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:589.161207 # Seafloor depth:-629.161207 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 132 # Segment length 50.765818 meters # Minimum depth: 633.143773 meters looking forward 0.000000 meters along route # Maximum depth: 633.143773 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 593.143773 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.921917; longitude = -117.386886; captureRadius = 10; duration = 50; initialDepth = 593.219971; finalDepth = 593.143773; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:593.143773 # Seafloor depth:-633.143773 # 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 131 # Segment length 50.765818 meters # Minimum depth: 633.219971 meters looking forward 0.000000 meters along route # Maximum depth: 633.219971 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 593.219971 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.922122; longitude = -117.387420; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 591.235175; finalDepth = 593.219971; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:593.219971 # Seafloor depth:-633.219971 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 131 # Segment length 50.765818 meters # Minimum depth: 631.235175 meters looking forward 0.000000 meters along route # Maximum depth: 631.235175 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 591.235175 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.922145; longitude = -117.387848; captureRadius = 10; duration = 50; initialDepth = 586.840474; finalDepth = 591.235175; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:591.235175 # Seafloor depth:-631.235175 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 131 # Segment length 50.765818 meters # Minimum depth: 626.840474 meters looking forward 0.000000 meters along route # Maximum depth: 626.840474 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 586.840474 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.922180; longitude = -117.388489; captureRadius = 10; duration = 50; initialDepth = 583.617920; finalDepth = 586.840474; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:586.840474 # Seafloor depth:-626.840474 # 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 130 # Segment length 50.765818 meters # Minimum depth: 623.617920 meters looking forward 0.000000 meters along route # Maximum depth: 623.617920 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 583.617920 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.922212; longitude = -117.389076; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 583.460989; finalDepth = 583.617920; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:583.61792 # Seafloor depth:-623.617920 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 130 # Segment length 50.765818 meters # Minimum depth: 623.460989 meters looking forward 0.000000 meters along route # Maximum depth: 623.460989 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 583.460989 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.922051; longitude = -117.389610; captureRadius = 10; duration = 50; initialDepth = 584.335515; finalDepth = 583.460989; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:583.460989 # Seafloor depth:-623.460989 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 130 # Segment length 50.765818 meters # Minimum depth: 624.335515 meters looking forward 0.000000 meters along route # Maximum depth: 624.335515 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 584.335515 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.921896; longitude = -117.390123; captureRadius = 10; duration = 50; initialDepth = 585.661981; finalDepth = 584.335515; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:584.335515 # Seafloor depth:-624.335515 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 130 # Segment length 50.765818 meters # Minimum depth: 625.661981 meters looking forward 0.000000 meters along route # Maximum depth: 625.661981 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 585.661981 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.921713; longitude = -117.390732; captureRadius = 10; duration = 50; initialDepth = 586.183945; finalDepth = 585.661981; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:585.661981 # Seafloor depth:-625.661981 # 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 129 # Segment length 50.765818 meters # Minimum depth: 626.183945 meters looking forward 0.000000 meters along route # Maximum depth: 626.183945 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 586.183945 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.921536; longitude = -117.391319; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 585.325736; finalDepth = 586.183945; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:586.183945 # Seafloor depth:-626.183945 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 129 # Segment length 50.765818 meters # Minimum depth: 625.325736 meters looking forward 0.000000 meters along route # Maximum depth: 625.325736 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 585.325736 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.921394; longitude = -117.391853; captureRadius = 10; duration = 50; initialDepth = 584.965843; finalDepth = 585.325736; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:585.325736 # Seafloor depth:-625.325736 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 129 # Segment length 50.765818 meters # Minimum depth: 624.965843 meters looking forward 0.000000 meters along route # Maximum depth: 624.965843 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 584.965843 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.921220; longitude = -117.392510; captureRadius = 10; duration = 50; initialDepth = 586.773655; finalDepth = 584.965843; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:584.965843 # Seafloor depth:-624.965843 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 129 # Segment length 50.765818 meters # Minimum depth: 626.773655 meters looking forward 0.000000 meters along route # Maximum depth: 626.773655 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 586.773655 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.921054; longitude = -117.393135; captureRadius = 10; duration = 50; initialDepth = 588.876361; finalDepth = 586.773655; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:586.773655 # Seafloor depth:-626.773655 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 129 # Segment length 50.765818 meters # Minimum depth: 628.876361 meters looking forward 0.000000 meters along route # Maximum depth: 628.876361 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 588.876361 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.920884; longitude = -117.393776; captureRadius = 10; duration = 50; initialDepth = 590.966327; finalDepth = 588.876361; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:588.876361 # Seafloor depth:-628.876361 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 129 # Segment length 50.765818 meters # Minimum depth: 630.966327 meters looking forward 0.000000 meters along route # Maximum depth: 630.966327 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 590.966327 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.920714; longitude = -117.394417; captureRadius = 10; duration = 50; initialDepth = 590.508644; finalDepth = 590.966327; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:590.966327 # Seafloor depth:-630.966327 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 129 # Segment length 50.765818 meters # Minimum depth: 630.508644 meters looking forward 0.000000 meters along route # Maximum depth: 630.508644 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 590.508644 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.920543; longitude = -117.395058; captureRadius = 10; duration = 50; initialDepth = 591.945514; finalDepth = 590.508644; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:590.508644 # Seafloor depth:-630.508644 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 129 # Segment length 50.765818 meters # Minimum depth: 631.945514 meters looking forward 0.000000 meters along route # Maximum depth: 631.945514 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 591.945514 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.920373; longitude = -117.395699; captureRadius = 10; duration = 50; initialDepth = 592.489083; finalDepth = 591.945514; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:591.945514 # Seafloor depth:-631.945514 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 129 # Segment length 50.765818 meters # Minimum depth: 632.489083 meters looking forward 0.000000 meters along route # Maximum depth: 632.489083 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 592.489083 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.920203; longitude = -117.396340; captureRadius = 10; duration = 50; initialDepth = 594.596390; finalDepth = 592.489083; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:592.489083 # Seafloor depth:-632.489083 # 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 128 # Segment length 50.765818 meters # Minimum depth: 634.596390 meters looking forward 0.000000 meters along route # Maximum depth: 634.596390 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 594.596390 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.920047; longitude = -117.396928; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 592.083256; finalDepth = 594.596390; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:594.59639 # Seafloor depth:-634.596390 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 128 # Segment length 50.765818 meters # Minimum depth: 632.083256 meters looking forward 0.000000 meters along route # Maximum depth: 632.083256 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 592.083256 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.920543; longitude = -117.396859; captureRadius = 10; duration = 50; initialDepth = 590.296257; finalDepth = 592.083256; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:592.083256 # Seafloor depth:-632.083256 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 128 # Segment length 50.765818 meters # Minimum depth: 630.296257 meters looking forward 0.000000 meters along route # Maximum depth: 630.296257 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 590.296257 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.921085; longitude = -117.396783; captureRadius = 10; duration = 50; initialDepth = 584.221588; finalDepth = 590.296257; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:590.296257 # Seafloor depth:-630.296257 # 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 127 # Segment length 50.765818 meters # Minimum depth: 624.221588 meters looking forward 0.000000 meters along route # Maximum depth: 624.221588 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 584.221588 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.921581; longitude = -117.396714; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 582.698807; finalDepth = 584.221588; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:584.221588 # Seafloor depth:-624.221588 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 127 # Segment length 50.765818 meters # Minimum depth: 622.698807 meters looking forward 0.000000 meters along route # Maximum depth: 622.698807 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 582.698807 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.921626; longitude = -117.396561; captureRadius = 10; duration = 50; initialDepth = 576.454951; finalDepth = 582.698807; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:582.698807 # Seafloor depth:-622.698807 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 127 # Segment length 50.765818 meters # Minimum depth: 616.454951 meters looking forward 0.000000 meters along route # Maximum depth: 616.454951 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 576.454951 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.921785; longitude = -117.396020; captureRadius = 10; duration = 50; initialDepth = 571.070083; finalDepth = 576.454951; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:576.454951 # Seafloor depth:-616.454951 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 127 # Segment length 50.765818 meters # Minimum depth: 611.070083 meters looking forward 0.000000 meters along route # Maximum depth: 611.070083 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 571.070083 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.921973; longitude = -117.395379; captureRadius = 10; duration = 50; initialDepth = 566.542064; finalDepth = 571.070083; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:571.070083 # Seafloor depth:-611.070083 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 127 # Segment length 50.765818 meters # Minimum depth: 606.542064 meters looking forward 0.000000 meters along route # Maximum depth: 606.542064 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 566.542064 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.922167; longitude = -117.394718; captureRadius = 10; duration = 50; initialDepth = 569.987600; finalDepth = 566.542064; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:566.542064 # Seafloor depth:-606.542064 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 127 # Segment length 50.765818 meters # Minimum depth: 609.987600 meters looking forward 0.000000 meters along route # Maximum depth: 609.987600 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 569.987600 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.922350; longitude = -117.394097; captureRadius = 10; duration = 50; initialDepth = 575.219806; finalDepth = 569.987600; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:569.9876 # Seafloor depth:-609.987600 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 127 # Segment length 50.765818 meters # Minimum depth: 615.219806 meters looking forward 0.000000 meters along route # Maximum depth: 615.219806 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 575.219806 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.922538; longitude = -117.393456; captureRadius = 10; duration = 50; initialDepth = 580.754584; finalDepth = 575.219806; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:575.219806 # Seafloor depth:-615.219806 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 127 # Segment length 50.765818 meters # Minimum depth: 620.754584 meters looking forward 0.000000 meters along route # Maximum depth: 620.754584 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 580.754584 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.922708; longitude = -117.392875; captureRadius = 10; duration = 50; initialDepth = 582.535000; finalDepth = 580.754584; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:580.754584 # Seafloor depth:-620.754584 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 127 # Segment length 50.765818 meters # Minimum depth: 622.535000 meters looking forward 0.000000 meters along route # Maximum depth: 622.535000 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 582.535000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.922867; longitude = -117.392334; captureRadius = 10; duration = 50; initialDepth = 581.015472; finalDepth = 582.535000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:582.535 # Seafloor depth:-622.535000 # 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 126 # Segment length 50.765818 meters # Minimum depth: 621.015472 meters looking forward 0.000000 meters along route # Maximum depth: 621.015472 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 581.015472 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.923024; longitude = -117.391800; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 580.663011; finalDepth = 581.015472; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:581.015472 # Seafloor depth:-621.015472 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 126 # Segment length 50.765818 meters # Minimum depth: 620.663011 meters looking forward 0.000000 meters along route # Maximum depth: 620.663011 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 580.663011 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.923133; longitude = -117.391373; captureRadius = 10; duration = 50; initialDepth = 581.523903; finalDepth = 580.663011; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:580.663011 # Seafloor depth:-620.663011 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 126 # Segment length 50.765818 meters # Minimum depth: 621.523903 meters looking forward 0.000000 meters along route # Maximum depth: 621.523903 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 581.523903 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.923297; longitude = -117.390732; captureRadius = 10; duration = 50; initialDepth = 580.396273; finalDepth = 581.523903; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:581.523903 # Seafloor depth:-621.523903 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 126 # Segment length 50.765818 meters # Minimum depth: 620.396273 meters looking forward 0.000000 meters along route # Maximum depth: 620.396273 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 580.396273 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.923460; longitude = -117.390091; captureRadius = 10; duration = 50; initialDepth = 578.933716; finalDepth = 580.396273; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:580.396273 # Seafloor depth:-620.396273 # 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 125 # Segment length 50.765818 meters # Minimum depth: 618.933716 meters looking forward 0.000000 meters along route # Maximum depth: 618.933716 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 578.933716 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.923610; longitude = -117.389503; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 578.710536; finalDepth = 578.933716; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:578.933716 # Seafloor depth:-618.933716 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 125 # Segment length 50.765818 meters # Minimum depth: 618.710536 meters looking forward 0.000000 meters along route # Maximum depth: 618.710536 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 578.710536 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.923606; longitude = -117.389450; captureRadius = 10; duration = 50; initialDepth = 577.515109; finalDepth = 578.710536; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:578.710536 # Seafloor depth:-618.710536 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 125 # Segment length 50.765818 meters # Minimum depth: 617.515109 meters looking forward 0.000000 meters along route # Maximum depth: 617.515109 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 577.515109 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.923560; longitude = -117.388809; captureRadius = 10; duration = 50; initialDepth = 576.562860; finalDepth = 577.515109; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:577.515109 # Seafloor depth:-617.515109 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 125 # Segment length 50.765818 meters # Minimum depth: 616.562860 meters looking forward 0.000000 meters along route # Maximum depth: 616.562860 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 576.562860 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.923514; longitude = -117.388168; captureRadius = 10; duration = 50; initialDepth = 573.863979; finalDepth = 576.562860; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:576.56286 # Seafloor depth:-616.562860 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 125 # Segment length 50.765818 meters # Minimum depth: 613.863979 meters looking forward 0.000000 meters along route # Maximum depth: 613.863979 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 573.863979 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.923468; longitude = -117.387527; captureRadius = 10; duration = 50; initialDepth = 576.533203; finalDepth = 573.863979; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:573.863979 # Seafloor depth:-613.863979 # 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 124 # Segment length 50.765818 meters # Minimum depth: 616.533203 meters looking forward 0.000000 meters along route # Maximum depth: 616.533203 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 576.533203 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.923430; longitude = -117.386993; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 580.107981; finalDepth = 576.533203; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:576.533203 # Seafloor depth:-616.533203 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 124 # Segment length 50.765818 meters # Minimum depth: 620.107981 meters looking forward 0.000000 meters along route # Maximum depth: 620.107981 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 580.107981 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.923291; longitude = -117.386566; captureRadius = 10; duration = 50; initialDepth = 579.962135; finalDepth = 580.107981; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:580.107981 # Seafloor depth:-620.107981 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 124 # Segment length 50.765818 meters # Minimum depth: 619.962135 meters looking forward 0.000000 meters along route # Maximum depth: 619.962135 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 579.962135 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.923114; longitude = -117.386022; captureRadius = 10; duration = 50; initialDepth = 577.758765; finalDepth = 579.962135; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:579.962135 # Seafloor depth:-619.962135 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 124 # Segment length 50.765818 meters # Minimum depth: 617.758765 meters looking forward 0.000000 meters along route # Maximum depth: 617.758765 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 577.758765 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.922927; longitude = -117.385444; captureRadius = 10; duration = 50; initialDepth = 569.988251; finalDepth = 577.758765; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:577.758765 # Seafloor depth:-617.758765 # 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 123 # Segment length 50.765818 meters # Minimum depth: 609.988251 meters looking forward 0.000000 meters along route # Maximum depth: 609.988251 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 569.988251 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.922753; longitude = -117.384910; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 571.198593; finalDepth = 569.988251; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:569.988251 # Seafloor depth:-609.988251 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 123 # Segment length 50.765818 meters # Minimum depth: 611.198593 meters looking forward 0.000000 meters along route # Maximum depth: 611.198593 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 571.198593 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.922483; longitude = -117.384483; captureRadius = 10; duration = 50; initialDepth = 570.253947; finalDepth = 571.198593; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:571.198593 # Seafloor depth:-611.198593 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 123 # Segment length 50.765818 meters # Minimum depth: 610.253947 meters looking forward 0.000000 meters along route # Maximum depth: 610.253947 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 570.253947 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.922167; longitude = -117.383984; captureRadius = 10; duration = 50; initialDepth = 566.035158; finalDepth = 570.253947; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:570.253947 # Seafloor depth:-610.253947 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 123 # Segment length 50.765818 meters # Minimum depth: 606.035158 meters looking forward 0.000000 meters along route # Maximum depth: 606.035158 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 566.035158 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.921874; longitude = -117.383521; captureRadius = 10; duration = 50; initialDepth = 565.053268; finalDepth = 566.035158; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:566.035158 # Seafloor depth:-606.035158 # 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 122 # Segment length 50.765818 meters # Minimum depth: 605.053268 meters looking forward 0.000000 meters along route # Maximum depth: 605.053268 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 565.053268 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.921536; longitude = -117.382987; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 558.957933; finalDepth = 565.053268; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:565.053268 # Seafloor depth:-605.053268 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 122 # Segment length 50.765818 meters # Minimum depth: 598.957933 meters looking forward 0.000000 meters along route # Maximum depth: 598.957933 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 558.957933 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.921431; longitude = -117.382400; captureRadius = 10; duration = 50; initialDepth = 555.513966; finalDepth = 558.957933; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:558.957933 # Seafloor depth:-598.957933 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 122 # Segment length 50.765818 meters # Minimum depth: 595.513966 meters looking forward 0.000000 meters along route # Maximum depth: 595.513966 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 555.513966 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.921317; longitude = -117.381759; captureRadius = 10; duration = 50; initialDepth = 556.444035; finalDepth = 555.513966; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:555.513966 # Seafloor depth:-595.513966 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 122 # Segment length 50.765818 meters # Minimum depth: 596.444035 meters looking forward 0.000000 meters along route # Maximum depth: 596.444035 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 556.444035 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.921203; longitude = -117.381118; captureRadius = 10; duration = 50; initialDepth = 552.148164; finalDepth = 556.444035; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:556.444035 # Seafloor depth:-596.444035 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 122 # Segment length 50.765818 meters # Minimum depth: 592.148164 meters looking forward 0.000000 meters along route # Maximum depth: 592.148164 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 552.148164 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.921089; longitude = -117.380477; captureRadius = 10; duration = 50; initialDepth = 543.896164; finalDepth = 552.148164; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:552.148164 # Seafloor depth:-592.148164 # 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 121 # Segment length 50.765818 meters # Minimum depth: 583.896164 meters looking forward 0.000000 meters along route # Maximum depth: 583.896164 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 543.896164 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.920994; longitude = -117.379943; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 542.420209; finalDepth = 543.896164; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:543.896164 # Seafloor depth:-583.896164 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 121 # Segment length 50.765818 meters # Minimum depth: 582.420209 meters looking forward 0.000000 meters along route # Maximum depth: 582.420209 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 542.420209 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.920949; longitude = -117.379758; captureRadius = 10; duration = 50; initialDepth = 536.770394; finalDepth = 542.420209; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:542.420209 # Seafloor depth:-582.420209 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 121 # Segment length 50.765818 meters # Minimum depth: 576.770394 meters looking forward 0.000000 meters along route # Maximum depth: 576.770394 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 536.770394 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.920814; longitude = -117.379195; captureRadius = 10; duration = 50; initialDepth = 539.509773; finalDepth = 536.770394; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:536.770394 # Seafloor depth:-576.770394 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 121 # Segment length 50.765818 meters # Minimum depth: 579.509773 meters looking forward 0.000000 meters along route # Maximum depth: 579.509773 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 539.509773 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.920679; longitude = -117.378636; captureRadius = 10; duration = 50; initialDepth = 541.534113; finalDepth = 539.509773; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:539.509773 # Seafloor depth:-579.509773 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 121 # Segment length 50.765818 meters # Minimum depth: 581.534113 meters looking forward 0.000000 meters along route # Maximum depth: 581.534113 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 541.534113 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.920543; longitude = -117.378073; captureRadius = 10; duration = 50; initialDepth = 539.543372; finalDepth = 541.534113; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:541.534113 # Seafloor depth:-581.534113 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 121 # Segment length 50.765818 meters # Minimum depth: 579.543372 meters looking forward 0.000000 meters along route # Maximum depth: 579.543372 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 539.543372 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.920388; longitude = -117.377432; captureRadius = 10; duration = 50; initialDepth = 540.273590; finalDepth = 539.543372; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:539.543372 # Seafloor depth:-579.543372 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 121 # Segment length 50.765818 meters # Minimum depth: 580.273590 meters looking forward 0.000000 meters along route # Maximum depth: 580.273590 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 540.273590 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.920234; longitude = -117.376791; captureRadius = 10; duration = 50; initialDepth = 539.647369; finalDepth = 540.273590; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:540.27359 # Seafloor depth:-580.273590 # 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 120 # Segment length 50.765818 meters # Minimum depth: 579.647369 meters looking forward 0.000000 meters along route # Maximum depth: 579.647369 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 539.647369 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.920092; longitude = -117.376204; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 539.076803; finalDepth = 539.647369; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:539.647369 # Seafloor depth:-579.647369 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 120 # Segment length 50.765818 meters # Minimum depth: 579.076803 meters looking forward 0.000000 meters along route # Maximum depth: 579.076803 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 539.076803 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.920002; longitude = -117.376055; captureRadius = 10; duration = 50; initialDepth = 537.839932; finalDepth = 539.076803; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:539.076803 # Seafloor depth:-579.076803 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 120 # Segment length 50.765818 meters # Minimum depth: 577.839932 meters looking forward 0.000000 meters along route # Maximum depth: 577.839932 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 537.839932 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.919731; longitude = -117.375606; captureRadius = 10; duration = 50; initialDepth = 538.461122; finalDepth = 537.839932; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:537.839932 # Seafloor depth:-577.839932 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 120 # Segment length 50.765818 meters # Minimum depth: 578.461122 meters looking forward 0.000000 meters along route # Maximum depth: 578.461122 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 538.461122 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.919461; longitude = -117.375157; captureRadius = 10; duration = 50; initialDepth = 538.411419; finalDepth = 538.461122; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:538.461122 # Seafloor depth:-578.461122 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 120 # Segment length 50.765818 meters # Minimum depth: 578.411419 meters looking forward 0.000000 meters along route # Maximum depth: 578.411419 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 538.411419 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.919190; longitude = -117.374708; captureRadius = 10; duration = 50; initialDepth = 537.374225; finalDepth = 538.411419; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:538.411419 # Seafloor depth:-578.411419 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 120 # Segment length 50.765818 meters # Minimum depth: 577.374225 meters looking forward 0.000000 meters along route # Maximum depth: 577.374225 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 537.374225 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.918920; longitude = -117.374260; captureRadius = 10; duration = 50; initialDepth = 536.194881; finalDepth = 537.374225; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:537.374225 # Seafloor depth:-577.374225 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 120 # Segment length 50.765818 meters # Minimum depth: 576.194881 meters looking forward 0.000000 meters along route # Maximum depth: 576.194881 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 536.194881 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.918649; longitude = -117.373811; captureRadius = 10; duration = 50; initialDepth = 534.707690; finalDepth = 536.194881; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:536.194881 # Seafloor depth:-576.194881 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 120 # Segment length 50.765818 meters # Minimum depth: 574.707690 meters looking forward 0.000000 meters along route # Maximum depth: 574.707690 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 534.707690 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.918378; longitude = -117.373362; captureRadius = 10; duration = 50; initialDepth = 533.703094; finalDepth = 534.707690; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:534.70769 # Seafloor depth:-574.707690 # 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 119 # Segment length 50.765818 meters # Minimum depth: 573.703094 meters looking forward 0.000000 meters along route # Maximum depth: 573.703094 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 533.703094 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.918063; longitude = -117.372839; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 534.309493; finalDepth = 533.703094; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:533.703094 # Seafloor depth:-573.703094 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 119 # Segment length 50.765818 meters # Minimum depth: 574.309493 meters looking forward 0.000000 meters along route # Maximum depth: 574.309493 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 534.309493 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.917837; longitude = -117.372846; captureRadius = 10; duration = 50; initialDepth = 535.304958; finalDepth = 534.309493; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:534.309493 # Seafloor depth:-574.309493 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 119 # Segment length 50.765818 meters # Minimum depth: 575.304958 meters looking forward 0.000000 meters along route # Maximum depth: 575.304958 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 535.304958 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.917296; longitude = -117.372862; captureRadius = 10; duration = 50; initialDepth = 534.848968; finalDepth = 535.304958; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:535.304958 # Seafloor depth:-575.304958 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 119 # Segment length 50.765818 meters # Minimum depth: 574.848968 meters looking forward 0.000000 meters along route # Maximum depth: 574.848968 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 534.848968 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.916755; longitude = -117.372877; captureRadius = 10; duration = 50; initialDepth = 535.148453; finalDepth = 534.848968; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:534.848968 # Seafloor depth:-574.848968 # 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 118 # Segment length 50.765818 meters # Minimum depth: 575.148453 meters looking forward 0.000000 meters along route # Maximum depth: 575.148453 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 535.148453 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.916258; longitude = -117.372892; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 537.131394; finalDepth = 535.148453; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:535.148453 # Seafloor depth:-575.148453 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 118 # Segment length 50.765818 meters # Minimum depth: 577.131394 meters looking forward 0.000000 meters along route # Maximum depth: 577.131394 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 537.131394 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.916128; longitude = -117.372786; captureRadius = 10; duration = 50; initialDepth = 541.110517; finalDepth = 537.131394; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:537.131394 # Seafloor depth:-577.131394 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 118 # Segment length 50.765818 meters # Minimum depth: 581.110517 meters looking forward 0.000000 meters along route # Maximum depth: 581.110517 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 541.110517 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915737; longitude = -117.372465; captureRadius = 10; duration = 50; initialDepth = 546.568290; finalDepth = 541.110517; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:541.110517 # Seafloor depth:-581.110517 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 118 # Segment length 50.765818 meters # Minimum depth: 586.568290 meters looking forward 0.000000 meters along route # Maximum depth: 586.568290 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 546.568290 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915346; longitude = -117.372145; captureRadius = 10; duration = 50; initialDepth = 552.232758; finalDepth = 546.568290; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:546.56829 # Seafloor depth:-586.568290 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 118 # Segment length 50.765818 meters # Minimum depth: 592.232758 meters looking forward 0.000000 meters along route # Maximum depth: 592.232758 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 552.232758 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914956; longitude = -117.371824; captureRadius = 10; duration = 50; initialDepth = 564.635651; finalDepth = 552.232758; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:552.232758 # Seafloor depth:-592.232758 # 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 117 # Segment length 50.765818 meters # Minimum depth: 604.635651 meters looking forward 0.000000 meters along route # Maximum depth: 604.635651 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 564.635651 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914499; longitude = -117.371450; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 563.627416; finalDepth = 564.635651; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:564.635651 # Seafloor depth:-604.635651 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 117 # Segment length 50.765818 meters # Minimum depth: 603.627416 meters looking forward 0.000000 meters along route # Maximum depth: 603.627416 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 563.627416 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914485; longitude = -117.371183; captureRadius = 10; duration = 50; initialDepth = 561.820781; finalDepth = 563.627416; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:563.627416 # Seafloor depth:-603.627416 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 117 # Segment length 50.765818 meters # Minimum depth: 601.820781 meters looking forward 0.000000 meters along route # Maximum depth: 601.820781 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 561.820781 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914454; longitude = -117.370602; captureRadius = 10; duration = 50; initialDepth = 563.466223; finalDepth = 561.820781; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:561.820781 # Seafloor depth:-601.820781 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 117 # Segment length 50.765818 meters # Minimum depth: 603.466223 meters looking forward 0.000000 meters along route # Maximum depth: 603.466223 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 563.466223 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914426; longitude = -117.370062; captureRadius = 10; duration = 50; initialDepth = 562.601702; finalDepth = 563.466223; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:563.466223 # Seafloor depth:-603.466223 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 117 # Segment length 50.765818 meters # Minimum depth: 602.601702 meters looking forward 0.000000 meters along route # Maximum depth: 602.601702 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 562.601702 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914392; longitude = -117.369421; captureRadius = 10; duration = 50; initialDepth = 560.913071; finalDepth = 562.601702; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:562.601702 # Seafloor depth:-602.601702 # 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 116 # Segment length 50.765818 meters # Minimum depth: 600.913071 meters looking forward 0.000000 meters along route # Maximum depth: 600.913071 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 560.913071 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914364; longitude = -117.368887; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 559.273921; finalDepth = 560.913071; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:560.913071 # Seafloor depth:-600.913071 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 116 # Segment length 50.765818 meters # Minimum depth: 599.273921 meters looking forward 0.000000 meters along route # Maximum depth: 599.273921 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 559.273921 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914404; longitude = -117.368620; captureRadius = 10; duration = 50; initialDepth = 554.765276; finalDepth = 559.273921; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:559.273921 # Seafloor depth:-599.273921 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 116 # Segment length 50.765818 meters # Minimum depth: 594.765276 meters looking forward 0.000000 meters along route # Maximum depth: 594.765276 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 554.765276 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914499; longitude = -117.367979; captureRadius = 10; duration = 50; initialDepth = 558.190159; finalDepth = 554.765276; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:554.765276 # Seafloor depth:-594.765276 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 116 # Segment length 50.765818 meters # Minimum depth: 598.190159 meters looking forward 0.000000 meters along route # Maximum depth: 598.190159 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 558.190159 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914595; longitude = -117.367338; captureRadius = 10; duration = 50; initialDepth = 552.928527; finalDepth = 558.190159; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:558.190159 # Seafloor depth:-598.190159 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 116 # Segment length 50.765818 meters # Minimum depth: 592.928527 meters looking forward 0.000000 meters along route # Maximum depth: 592.928527 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 552.928527 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914690; longitude = -117.366697; captureRadius = 10; duration = 50; initialDepth = 550.614899; finalDepth = 552.928527; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:552.928527 # Seafloor depth:-592.928527 # 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 115 # Segment length 50.765818 meters # Minimum depth: 590.614899 meters looking forward 0.000000 meters along route # Maximum depth: 590.614899 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 550.614899 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914770; longitude = -117.366163; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 551.497224; finalDepth = 550.614899; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:550.614899 # Seafloor depth:-590.614899 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 115 # Segment length 50.765818 meters # Minimum depth: 591.497224 meters looking forward 0.000000 meters along route # Maximum depth: 591.497224 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 551.497224 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914798; longitude = -117.365896; captureRadius = 10; duration = 50; initialDepth = 550.703369; finalDepth = 551.497224; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:551.497224 # Seafloor depth:-591.497224 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 115 # Segment length 50.765818 meters # Minimum depth: 590.703369 meters looking forward 0.000000 meters along route # Maximum depth: 590.703369 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 550.703369 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914860; longitude = -117.365309; captureRadius = 10; duration = 50; initialDepth = 548.856405; finalDepth = 550.703369; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:550.703369 # Seafloor depth:-590.703369 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 115 # Segment length 50.765818 meters # Minimum depth: 588.856405 meters looking forward 0.000000 meters along route # Maximum depth: 588.856405 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 548.856405 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914917; longitude = -117.364774; captureRadius = 10; duration = 50; initialDepth = 545.613214; finalDepth = 548.856405; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:548.856405 # Seafloor depth:-588.856405 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 115 # Segment length 50.765818 meters # Minimum depth: 585.613214 meters looking forward 0.000000 meters along route # Maximum depth: 585.613214 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 545.613214 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914985; longitude = -117.364133; captureRadius = 10; duration = 50; initialDepth = 545.189178; finalDepth = 545.613214; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:545.613214 # Seafloor depth:-585.613214 # 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 114 # Segment length 50.765818 meters # Minimum depth: 585.189178 meters looking forward 0.000000 meters along route # Maximum depth: 585.189178 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 545.189178 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915041; longitude = -117.363599; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 546.500742; finalDepth = 545.189178; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:545.189178 # Seafloor depth:-585.189178 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 114 # Segment length 50.765818 meters # Minimum depth: 586.500742 meters looking forward 0.000000 meters along route # Maximum depth: 586.500742 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 546.500742 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915081; longitude = -117.363332; captureRadius = 10; duration = 50; initialDepth = 540.801053; finalDepth = 546.500742; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:546.500742 # Seafloor depth:-586.500742 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 114 # Segment length 50.765818 meters # Minimum depth: 580.801053 meters looking forward 0.000000 meters along route # Maximum depth: 580.801053 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 540.801053 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915178; longitude = -117.362691; captureRadius = 10; duration = 50; initialDepth = 540.876853; finalDepth = 540.801053; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:540.801053 # Seafloor depth:-580.801053 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 114 # Segment length 50.765818 meters # Minimum depth: 580.876853 meters looking forward 0.000000 meters along route # Maximum depth: 580.876853 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 540.876853 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915266; longitude = -117.362104; captureRadius = 10; duration = 50; initialDepth = 536.561397; finalDepth = 540.876853; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:540.876853 # Seafloor depth:-580.876853 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 114 # Segment length 50.765818 meters # Minimum depth: 576.561397 meters looking forward 0.000000 meters along route # Maximum depth: 576.561397 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 536.561397 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915347; longitude = -117.361569; captureRadius = 10; duration = 50; initialDepth = 538.622336; finalDepth = 536.561397; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:536.561397 # Seafloor depth:-576.561397 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 114 # Segment length 50.765818 meters # Minimum depth: 578.622336 meters looking forward 0.000000 meters along route # Maximum depth: 578.622336 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 538.622336 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915443; longitude = -117.360928; captureRadius = 10; duration = 50; initialDepth = 536.226668; finalDepth = 538.622336; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:538.622336 # Seafloor depth:-578.622336 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 114 # Segment length 50.765818 meters # Minimum depth: 576.226668 meters looking forward 0.000000 meters along route # Maximum depth: 576.226668 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 536.226668 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915540; longitude = -117.360287; captureRadius = 10; duration = 50; initialDepth = 541.228618; finalDepth = 536.226668; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:536.226668 # Seafloor depth:-576.226668 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 114 # Segment length 50.765818 meters # Minimum depth: 581.228618 meters looking forward 0.000000 meters along route # Maximum depth: 581.228618 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 541.228618 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915636; longitude = -117.359646; captureRadius = 10; duration = 50; initialDepth = 543.665222; finalDepth = 541.228618; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:541.228618 # Seafloor depth:-581.228618 # 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 113 # Segment length 50.765818 meters # Minimum depth: 583.665222 meters looking forward 0.000000 meters along route # Maximum depth: 583.665222 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 543.665222 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915717; longitude = -117.359112; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 544.256416; finalDepth = 543.665222; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:543.665222 # Seafloor depth:-583.665222 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 113 # Segment length 50.765818 meters # Minimum depth: 584.256416 meters looking forward 0.000000 meters along route # Maximum depth: 584.256416 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 544.256416 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915718; longitude = -117.359006; captureRadius = 10; duration = 50; initialDepth = 545.280423; finalDepth = 544.256416; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:544.256416 # Seafloor depth:-584.256416 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 113 # Segment length 50.765818 meters # Minimum depth: 585.280423 meters looking forward 0.000000 meters along route # Maximum depth: 585.280423 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 545.280423 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915727; longitude = -117.358365; captureRadius = 10; duration = 50; initialDepth = 544.005728; finalDepth = 545.280423; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:545.280423 # Seafloor depth:-585.280423 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 113 # Segment length 50.765818 meters # Minimum depth: 584.005728 meters looking forward 0.000000 meters along route # Maximum depth: 584.005728 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 544.005728 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915736; longitude = -117.357724; captureRadius = 10; duration = 50; initialDepth = 540.511891; finalDepth = 544.005728; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:544.005728 # Seafloor depth:-584.005728 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 113 # Segment length 50.765818 meters # Minimum depth: 580.511891 meters looking forward 0.000000 meters along route # Maximum depth: 580.511891 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 540.511891 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915745; longitude = -117.357083; captureRadius = 10; duration = 50; initialDepth = 535.817881; finalDepth = 540.511891; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:540.511891 # Seafloor depth:-580.511891 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 113 # Segment length 50.765818 meters # Minimum depth: 575.817881 meters looking forward 0.000000 meters along route # Maximum depth: 575.817881 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 535.817881 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915754; longitude = -117.356442; captureRadius = 10; duration = 50; initialDepth = 529.912338; finalDepth = 535.817881; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:535.817881 # Seafloor depth:-575.817881 # 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 112 # Segment length 50.765818 meters # Minimum depth: 569.912338 meters looking forward 0.000000 meters along route # Maximum depth: 569.912338 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 529.912338 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915762; longitude = -117.355854; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 530.784134; finalDepth = 529.912338; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:529.912338 # Seafloor depth:-569.912338 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 112 # Segment length 50.765818 meters # Minimum depth: 570.784134 meters looking forward 0.000000 meters along route # Maximum depth: 570.784134 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 530.784134 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915649; longitude = -117.355480; captureRadius = 10; duration = 50; initialDepth = 529.785670; finalDepth = 530.784134; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:530.784134 # Seafloor depth:-570.784134 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 112 # Segment length 50.765818 meters # Minimum depth: 569.785670 meters looking forward 0.000000 meters along route # Maximum depth: 569.785670 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 529.785670 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915455; longitude = -117.354839; captureRadius = 10; duration = 50; initialDepth = 527.065838; finalDepth = 529.785670; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:529.78567 # Seafloor depth:-569.785670 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 112 # Segment length 50.765818 meters # Minimum depth: 567.065838 meters looking forward 0.000000 meters along route # Maximum depth: 567.065838 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 527.065838 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915261; longitude = -117.354199; captureRadius = 10; duration = 50; initialDepth = 522.063477; finalDepth = 527.065838; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:527.065838 # Seafloor depth:-567.065838 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 112 # Segment length 50.765818 meters # Minimum depth: 562.063477 meters looking forward 0.000000 meters along route # Maximum depth: 562.063477 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 522.063477 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915067; longitude = -117.353558; captureRadius = 10; duration = 50; initialDepth = 518.625488; finalDepth = 522.063477; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:522.063477 # Seafloor depth:-562.063477 # 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 111 # Segment length 50.765818 meters # Minimum depth: 558.625488 meters looking forward 0.000000 meters along route # Maximum depth: 558.625488 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 518.625488 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914905; longitude = -117.353023; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 520.924175; finalDepth = 518.625488; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:518.625488 # Seafloor depth:-558.625488 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 111 # Segment length 50.765818 meters # Minimum depth: 560.924175 meters looking forward 0.000000 meters along route # Maximum depth: 560.924175 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 520.924175 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914725; longitude = -117.352469; captureRadius = 10; duration = 50; initialDepth = 523.105217; finalDepth = 520.924175; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:520.924175 # Seafloor depth:-560.924175 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 111 # Segment length 50.765818 meters # Minimum depth: 563.105217 meters looking forward 0.000000 meters along route # Maximum depth: 563.105217 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 523.105217 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914558; longitude = -117.351955; captureRadius = 10; duration = 50; initialDepth = 521.944721; finalDepth = 523.105217; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:523.105217 # Seafloor depth:-563.105217 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 111 # Segment length 50.765818 meters # Minimum depth: 561.944721 meters looking forward 0.000000 meters along route # Maximum depth: 561.944721 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 521.944721 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914350; longitude = -117.351314; captureRadius = 10; duration = 50; initialDepth = 521.742289; finalDepth = 521.944721; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:521.944721 # Seafloor depth:-561.944721 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 111 # Segment length 50.765818 meters # Minimum depth: 561.742289 meters looking forward 0.000000 meters along route # Maximum depth: 561.742289 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 521.742289 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914184; longitude = -117.350802; captureRadius = 10; duration = 50; initialDepth = 517.866577; finalDepth = 521.742289; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:521.742289 # Seafloor depth:-561.742289 # 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 110 # Segment length 50.765818 meters # Minimum depth: 557.866577 meters looking forward 0.000000 meters along route # Maximum depth: 557.866577 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 517.866577 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914003; longitude = -117.350246; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 519.673562; finalDepth = 517.866577; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:517.866577 # Seafloor depth:-557.866577 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 110 # Segment length 50.765818 meters # Minimum depth: 559.673562 meters looking forward 0.000000 meters along route # Maximum depth: 559.673562 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 519.673562 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913802; longitude = -117.349872; captureRadius = 10; duration = 50; initialDepth = 516.135594; finalDepth = 519.673562; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:519.673562 # Seafloor depth:-559.673562 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 110 # Segment length 50.765818 meters # Minimum depth: 556.135594 meters looking forward 0.000000 meters along route # Maximum depth: 556.135594 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 516.135594 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913544; longitude = -117.349392; captureRadius = 10; duration = 50; initialDepth = 515.393650; finalDepth = 516.135594; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:516.135594 # Seafloor depth:-556.135594 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 110 # Segment length 50.765818 meters # Minimum depth: 555.393650 meters looking forward 0.000000 meters along route # Maximum depth: 555.393650 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 515.393650 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913285; longitude = -117.348911; captureRadius = 10; duration = 50; initialDepth = 515.018217; finalDepth = 515.393650; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:515.39365 # Seafloor depth:-555.393650 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 110 # Segment length 50.765818 meters # Minimum depth: 555.018217 meters looking forward 0.000000 meters along route # Maximum depth: 555.018217 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 515.018217 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913027; longitude = -117.348430; captureRadius = 10; duration = 50; initialDepth = 512.848022; finalDepth = 515.018217; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:515.018217 # Seafloor depth:-555.018217 # 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 109 # Segment length 50.765818 meters # Minimum depth: 552.848022 meters looking forward 0.000000 meters along route # Maximum depth: 552.848022 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 512.848022 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912740; longitude = -117.347896; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 513.603806; finalDepth = 512.848022; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:512.848022 # Seafloor depth:-552.848022 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 109 # Segment length 50.765818 meters # Minimum depth: 553.603806 meters looking forward 0.000000 meters along route # Maximum depth: 553.603806 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 513.603806 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912695; longitude = -117.347824; captureRadius = 10; duration = 50; initialDepth = 513.468462; finalDepth = 513.603806; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:513.603806 # Seafloor depth:-553.603806 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 109 # Segment length 50.765818 meters # Minimum depth: 553.468462 meters looking forward 0.000000 meters along route # Maximum depth: 553.468462 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 513.468462 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912425; longitude = -117.347385; captureRadius = 10; duration = 50; initialDepth = 514.738922; finalDepth = 513.468462; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:513.468462 # Seafloor depth:-553.468462 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 109 # Segment length 50.765818 meters # Minimum depth: 554.738922 meters looking forward 0.000000 meters along route # Maximum depth: 554.738922 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 514.738922 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912154; longitude = -117.346947; captureRadius = 10; duration = 50; initialDepth = 512.110197; finalDepth = 514.738922; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:514.738922 # Seafloor depth:-554.738922 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 109 # Segment length 50.765818 meters # Minimum depth: 552.110197 meters looking forward 0.000000 meters along route # Maximum depth: 552.110197 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 512.110197 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911883; longitude = -117.346507; captureRadius = 10; duration = 50; initialDepth = 513.517150; finalDepth = 512.110197; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:512.110197 # Seafloor depth:-552.110197 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 109 # Segment length 50.765818 meters # Minimum depth: 553.517150 meters looking forward 0.000000 meters along route # Maximum depth: 553.517150 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 513.517150 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911613; longitude = -117.346070; captureRadius = 10; duration = 50; initialDepth = 511.030292; finalDepth = 513.517150; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:513.51715 # Seafloor depth:-553.517150 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 109 # Segment length 50.765818 meters # Minimum depth: 551.030292 meters looking forward 0.000000 meters along route # Maximum depth: 551.030292 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 511.030292 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911342; longitude = -117.345631; captureRadius = 10; duration = 50; initialDepth = 510.953445; finalDepth = 511.030292; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:511.030292 # Seafloor depth:-551.030292 # 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 108 # Segment length 50.765818 meters # Minimum depth: 550.953445 meters looking forward 0.000000 meters along route # Maximum depth: 550.953445 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 510.953445 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911026; longitude = -117.345119; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 507.954412; finalDepth = 510.953445; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:510.953445 # Seafloor depth:-550.953445 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 108 # Segment length 50.765818 meters # Minimum depth: 547.954412 meters looking forward 0.000000 meters along route # Maximum depth: 547.954412 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 507.954412 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.910936; longitude = -117.345058; captureRadius = 10; duration = 50; initialDepth = 510.987007; finalDepth = 507.954412; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:507.954412 # Seafloor depth:-547.954412 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 108 # Segment length 50.765818 meters # Minimum depth: 550.987007 meters looking forward 0.000000 meters along route # Maximum depth: 550.987007 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 510.987007 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.910530; longitude = -117.344781; captureRadius = 10; duration = 50; initialDepth = 509.969520; finalDepth = 510.987007; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:510.987007 # Seafloor depth:-550.987007 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 108 # Segment length 50.765818 meters # Minimum depth: 549.969520 meters looking forward 0.000000 meters along route # Maximum depth: 549.969520 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 509.969520 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.910124; longitude = -117.344505; captureRadius = 10; duration = 50; initialDepth = 507.601507; finalDepth = 509.969520; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:509.96952 # Seafloor depth:-549.969520 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 108 # Segment length 50.765818 meters # Minimum depth: 547.601507 meters looking forward 0.000000 meters along route # Maximum depth: 547.601507 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 507.601507 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.909718; longitude = -117.344228; captureRadius = 10; duration = 50; initialDepth = 497.297897; finalDepth = 507.601507; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:507.601507 # Seafloor depth:-547.601507 # 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 107 # Segment length 50.765818 meters # Minimum depth: 537.297897 meters looking forward 0.000000 meters along route # Maximum depth: 537.297897 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 497.297897 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.909222; longitude = -117.343890; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 494.836581; finalDepth = 497.297897; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:497.297897 # Seafloor depth:-537.297897 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 107 # Segment length 50.765818 meters # Minimum depth: 534.836581 meters looking forward 0.000000 meters along route # Maximum depth: 534.836581 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 494.836581 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.909175; longitude = -117.343783; captureRadius = 10; duration = 50; initialDepth = 483.159213; finalDepth = 494.836581; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:494.836581 # Seafloor depth:-534.836581 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 107 # Segment length 50.765818 meters # Minimum depth: 523.159213 meters looking forward 0.000000 meters along route # Maximum depth: 523.159213 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 483.159213 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.908961; longitude = -117.343303; captureRadius = 10; duration = 50; initialDepth = 478.783337; finalDepth = 483.159213; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:483.159213 # Seafloor depth:-523.159213 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 107 # Segment length 50.765818 meters # Minimum depth: 518.783337 meters looking forward 0.000000 meters along route # Maximum depth: 518.783337 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 478.783337 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.908747; longitude = -117.342822; captureRadius = 10; duration = 50; initialDepth = 477.680842; finalDepth = 478.783337; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:478.783337 # Seafloor depth:-518.783337 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 107 # Segment length 50.765818 meters # Minimum depth: 517.680842 meters looking forward 0.000000 meters along route # Maximum depth: 517.680842 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 477.680842 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.908534; longitude = -117.342341; captureRadius = 10; duration = 50; initialDepth = 478.630530; finalDepth = 477.680842; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:477.680842 # Seafloor depth:-517.680842 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 107 # Segment length 50.765818 meters # Minimum depth: 518.630530 meters looking forward 0.000000 meters along route # Maximum depth: 518.630530 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 478.630530 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.908320; longitude = -117.341861; captureRadius = 10; duration = 50; initialDepth = 484.285804; finalDepth = 478.630530; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:478.63053 # Seafloor depth:-518.630530 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 107 # Segment length 50.765818 meters # Minimum depth: 524.285804 meters looking forward 0.000000 meters along route # Maximum depth: 524.285804 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 484.285804 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.908095; longitude = -117.341354; captureRadius = 10; duration = 50; initialDepth = 484.631180; finalDepth = 484.285804; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:484.285804 # Seafloor depth:-524.285804 # 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 106 # Segment length 50.765818 meters # Minimum depth: 524.631180 meters looking forward 0.000000 meters along route # Maximum depth: 524.631180 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 484.631180 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.907869; longitude = -117.340846; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 486.706524; finalDepth = 484.631180; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:484.63118 # Seafloor depth:-524.631180 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 106 # Segment length 50.765818 meters # Minimum depth: 526.706524 meters looking forward 0.000000 meters along route # Maximum depth: 526.706524 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 486.706524 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.907824; longitude = -117.340802; captureRadius = 10; duration = 50; initialDepth = 485.787346; finalDepth = 486.706524; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:486.706524 # Seafloor depth:-526.706524 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 106 # Segment length 50.765818 meters # Minimum depth: 525.787346 meters looking forward 0.000000 meters along route # Maximum depth: 525.787346 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 485.787346 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.907418; longitude = -117.340401; captureRadius = 10; duration = 50; initialDepth = 485.500370; finalDepth = 485.787346; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:485.787346 # Seafloor depth:-525.787346 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 106 # Segment length 50.765818 meters # Minimum depth: 525.500370 meters looking forward 0.000000 meters along route # Maximum depth: 525.500370 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 485.500370 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.907012; longitude = -117.340000; captureRadius = 10; duration = 50; initialDepth = 485.254316; finalDepth = 485.500370; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:485.50037 # Seafloor depth:-525.500370 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 106 # Segment length 50.765818 meters # Minimum depth: 525.254316 meters looking forward 0.000000 meters along route # Maximum depth: 525.254316 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 485.254316 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.906606; longitude = -117.339600; captureRadius = 10; duration = 50; initialDepth = 484.032440; finalDepth = 485.254316; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:485.254316 # Seafloor depth:-525.254316 # 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 105 # Segment length 50.765818 meters # Minimum depth: 524.032440 meters looking forward 0.000000 meters along route # Maximum depth: 524.032440 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 484.032440 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.906245; longitude = -117.339243; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 482.617507; finalDepth = 484.032440; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:484.03244 # Seafloor depth:-524.032440 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 105 # Segment length 50.765818 meters # Minimum depth: 522.617507 meters looking forward 0.000000 meters along route # Maximum depth: 522.617507 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 482.617507 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.906065; longitude = -117.339036; captureRadius = 10; duration = 50; initialDepth = 480.307042; finalDepth = 482.617507; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:482.617507 # Seafloor depth:-522.617507 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 105 # Segment length 50.765818 meters # Minimum depth: 520.307042 meters looking forward 0.000000 meters along route # Maximum depth: 520.307042 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 480.307042 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.905735; longitude = -117.338656; captureRadius = 10; duration = 50; initialDepth = 479.052789; finalDepth = 480.307042; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:480.307042 # Seafloor depth:-520.307042 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 105 # Segment length 50.765818 meters # Minimum depth: 519.052789 meters looking forward 0.000000 meters along route # Maximum depth: 519.052789 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 479.052789 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.905388; longitude = -117.338257; captureRadius = 10; duration = 50; initialDepth = 481.393377; finalDepth = 479.052789; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:479.052789 # Seafloor depth:-519.052789 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 105 # Segment length 50.765818 meters # Minimum depth: 521.393377 meters looking forward 0.000000 meters along route # Maximum depth: 521.393377 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 481.393377 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.905039; longitude = -117.337855; captureRadius = 10; duration = 50; initialDepth = 488.569473; finalDepth = 481.393377; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:481.393377 # Seafloor depth:-521.393377 # 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 104 # Segment length 50.765818 meters # Minimum depth: 528.569473 meters looking forward 0.000000 meters along route # Maximum depth: 528.569473 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 488.569473 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.904667; longitude = -117.337427; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 484.180769; finalDepth = 488.569473; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:488.569473 # Seafloor depth:-528.569473 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 104 # Segment length 50.765818 meters # Minimum depth: 524.180769 meters looking forward 0.000000 meters along route # Maximum depth: 524.180769 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 484.180769 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.904622; longitude = -117.337054; captureRadius = 10; duration = 50; initialDepth = 481.384038; finalDepth = 484.180769; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:484.180769 # Seafloor depth:-524.180769 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 104 # Segment length 50.765818 meters # Minimum depth: 521.384038 meters looking forward 0.000000 meters along route # Maximum depth: 521.384038 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 481.384038 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.904544; longitude = -117.336413; captureRadius = 10; duration = 50; initialDepth = 479.695521; finalDepth = 481.384038; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:481.384038 # Seafloor depth:-521.384038 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 104 # Segment length 50.765818 meters # Minimum depth: 519.695521 meters looking forward 0.000000 meters along route # Maximum depth: 519.695521 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 479.695521 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.904467; longitude = -117.335772; captureRadius = 10; duration = 50; initialDepth = 481.477081; finalDepth = 479.695521; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:479.695521 # Seafloor depth:-519.695521 # 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 103 # Segment length 50.765818 meters # Minimum depth: 521.477081 meters looking forward 0.000000 meters along route # Maximum depth: 521.477081 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 481.477081 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.904396; longitude = -117.335184; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 478.794836; finalDepth = 481.477081; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:481.477081 # Seafloor depth:-521.477081 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 103 # Segment length 50.765818 meters # Minimum depth: 518.794836 meters looking forward 0.000000 meters along route # Maximum depth: 518.794836 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 478.794836 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.904509; longitude = -117.334650; captureRadius = 10; duration = 50; initialDepth = 480.547700; finalDepth = 478.794836; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:478.794836 # Seafloor depth:-518.794836 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 103 # Segment length 50.765818 meters # Minimum depth: 520.547700 meters looking forward 0.000000 meters along route # Maximum depth: 520.547700 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 480.547700 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.904644; longitude = -117.334009; captureRadius = 10; duration = 50; initialDepth = 478.101752; finalDepth = 480.547700; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:480.5477 # Seafloor depth:-520.547700 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 103 # Segment length 50.765818 meters # Minimum depth: 518.101752 meters looking forward 0.000000 meters along route # Maximum depth: 518.101752 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 478.101752 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.904780; longitude = -117.333368; captureRadius = 10; duration = 50; initialDepth = 473.170180; finalDepth = 478.101752; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:478.101752 # Seafloor depth:-518.101752 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 103 # Segment length 50.765818 meters # Minimum depth: 513.170180 meters looking forward 0.000000 meters along route # Maximum depth: 513.170180 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 473.170180 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.904915; longitude = -117.332727; captureRadius = 10; duration = 50; initialDepth = 466.161560; finalDepth = 473.170180; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:473.17018 # Seafloor depth:-513.170180 # 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 102 # Segment length 50.765818 meters # Minimum depth: 506.161560 meters looking forward 0.000000 meters along route # Maximum depth: 506.161560 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 466.161560 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.905028; longitude = -117.332193; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 467.839975; finalDepth = 466.161560; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:466.16156 # Seafloor depth:-506.161560 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 102 # Segment length 50.765818 meters # Minimum depth: 507.839975 meters looking forward 0.000000 meters along route # Maximum depth: 507.839975 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 467.839975 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.904983; longitude = -117.331662; captureRadius = 10; duration = 50; initialDepth = 463.322170; finalDepth = 467.839975; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:467.839975 # Seafloor depth:-507.839975 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 102 # Segment length 50.765818 meters # Minimum depth: 503.322170 meters looking forward 0.000000 meters along route # Maximum depth: 503.322170 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 463.322170 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.904937; longitude = -117.331125; captureRadius = 10; duration = 50; initialDepth = 458.943038; finalDepth = 463.322170; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:463.32217 # Seafloor depth:-503.322170 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 102 # Segment length 50.765818 meters # Minimum depth: 498.943038 meters looking forward 0.000000 meters along route # Maximum depth: 498.943038 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 458.943038 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.904882; longitude = -117.330484; captureRadius = 10; duration = 50; initialDepth = 454.561591; finalDepth = 458.943038; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:458.943038 # Seafloor depth:-498.943038 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 102 # Segment length 50.765818 meters # Minimum depth: 494.561591 meters looking forward 0.000000 meters along route # Maximum depth: 494.561591 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 454.561591 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.904827; longitude = -117.329843; captureRadius = 10; duration = 50; initialDepth = 453.397983; finalDepth = 454.561591; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:454.561591 # Seafloor depth:-494.561591 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 102 # Segment length 50.765818 meters # Minimum depth: 493.397983 meters looking forward 0.000000 meters along route # Maximum depth: 493.397983 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 453.397983 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.904772; longitude = -117.329202; captureRadius = 10; duration = 50; initialDepth = 463.081269; finalDepth = 453.397983; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:453.397983 # Seafloor depth:-493.397983 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 102 # Segment length 50.765818 meters # Minimum depth: 503.081269 meters looking forward 0.000000 meters along route # Maximum depth: 503.081269 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 463.081269 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.904717; longitude = -117.328561; captureRadius = 10; duration = 50; initialDepth = 464.018799; finalDepth = 463.081269; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:463.081269 # Seafloor depth:-503.081269 # 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 101 # Segment length 50.765818 meters # Minimum depth: 504.018799 meters looking forward 0.000000 meters along route # Maximum depth: 504.018799 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 464.018799 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.904667; longitude = -117.327974; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 468.836287; finalDepth = 464.018799; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:464.018799 # Seafloor depth:-504.018799 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 101 # Segment length 50.765818 meters # Minimum depth: 508.836287 meters looking forward 0.000000 meters along route # Maximum depth: 508.836287 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 468.836287 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.904626; longitude = -117.327440; captureRadius = 10; duration = 50; initialDepth = 484.742602; finalDepth = 468.836287; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:468.836287 # Seafloor depth:-508.836287 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 101 # Segment length 50.765818 meters # Minimum depth: 524.742602 meters looking forward 0.000000 meters along route # Maximum depth: 524.742602 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 484.742602 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.904576; longitude = -117.326799; captureRadius = 10; duration = 50; initialDepth = 476.578601; finalDepth = 484.742602; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:484.742602 # Seafloor depth:-524.742602 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 101 # Segment length 50.765818 meters # Minimum depth: 516.578601 meters looking forward 0.000000 meters along route # Maximum depth: 516.578601 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 476.578601 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.904527; longitude = -117.326158; captureRadius = 10; duration = 50; initialDepth = 472.651558; finalDepth = 476.578601; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:476.578601 # Seafloor depth:-516.578601 # 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 100 # Segment length 50.765818 meters # Minimum depth: 512.651558 meters looking forward 0.000000 meters along route # Maximum depth: 512.651558 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 472.651558 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.904486; longitude = -117.325624; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 472.910525; finalDepth = 472.651558; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:472.651558 # Seafloor depth:-512.651558 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 100 # Segment length 50.765818 meters # Minimum depth: 512.910525 meters looking forward 0.000000 meters along route # Maximum depth: 512.910525 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 472.910525 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.904441; longitude = -117.325356; captureRadius = 10; duration = 50; initialDepth = 473.809993; finalDepth = 472.910525; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:472.910525 # Seafloor depth:-512.910525 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 100 # Segment length 50.765818 meters # Minimum depth: 513.809993 meters looking forward 0.000000 meters along route # Maximum depth: 513.809993 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 473.809993 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.904333; longitude = -117.324716; captureRadius = 10; duration = 50; initialDepth = 471.763508; finalDepth = 473.809993; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:473.809993 # Seafloor depth:-513.809993 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 100 # Segment length 50.765818 meters # Minimum depth: 511.763508 meters looking forward 0.000000 meters along route # Maximum depth: 511.763508 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 471.763508 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.904225; longitude = -117.324075; captureRadius = 10; duration = 50; initialDepth = 470.679565; finalDepth = 471.763508; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:471.763508 # Seafloor depth:-511.763508 # 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 99 # Segment length 50.765818 meters # Minimum depth: 510.679565 meters looking forward 0.000000 meters along route # Maximum depth: 510.679565 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 470.679565 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.904126; longitude = -117.323487; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 470.006562; finalDepth = 470.679565; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:470.679565 # Seafloor depth:-510.679565 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 99 # Segment length 50.765818 meters # Minimum depth: 510.006562 meters looking forward 0.000000 meters along route # Maximum depth: 510.006562 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 470.006562 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.904035; longitude = -117.323334; captureRadius = 10; duration = 50; initialDepth = 469.508143; finalDepth = 470.006562; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:470.006562 # Seafloor depth:-510.006562 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 99 # Segment length 50.765818 meters # Minimum depth: 509.508143 meters looking forward 0.000000 meters along route # Maximum depth: 509.508143 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 469.508143 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.903765; longitude = -117.322877; captureRadius = 10; duration = 50; initialDepth = 468.260956; finalDepth = 469.508143; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:469.508143 # Seafloor depth:-509.508143 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 99 # Segment length 50.765818 meters # Minimum depth: 508.260956 meters looking forward 0.000000 meters along route # Maximum depth: 508.260956 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 468.260956 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.903494; longitude = -117.322419; captureRadius = 10; duration = 50; initialDepth = 465.203278; finalDepth = 468.260956; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:468.260956 # Seafloor depth:-508.260956 # 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 98 # Segment length 50.765818 meters # Minimum depth: 505.203278 meters looking forward 0.000000 meters along route # Maximum depth: 505.203278 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 465.203278 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.903178; longitude = -117.321885; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 463.613132; finalDepth = 465.203278; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:465.203278 # Seafloor depth:-505.203278 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 98 # Segment length 50.765818 meters # Minimum depth: 503.613132 meters looking forward 0.000000 meters along route # Maximum depth: 503.613132 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 463.613132 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.902953; longitude = -117.321744; captureRadius = 10; duration = 50; initialDepth = 460.897424; finalDepth = 463.613132; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:463.613132 # Seafloor depth:-503.613132 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 98 # Segment length 50.765818 meters # Minimum depth: 500.897424 meters looking forward 0.000000 meters along route # Maximum depth: 500.897424 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 460.897424 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.902547; longitude = -117.321489; captureRadius = 10; duration = 50; initialDepth = 461.409329; finalDepth = 460.897424; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:460.897424 # Seafloor depth:-500.897424 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 98 # Segment length 50.765818 meters # Minimum depth: 501.409329 meters looking forward 0.000000 meters along route # Maximum depth: 501.409329 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 461.409329 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.902141; longitude = -117.321235; captureRadius = 10; duration = 50; initialDepth = 460.313575; finalDepth = 461.409329; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:461.409329 # Seafloor depth:-501.409329 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 98 # Segment length 50.765818 meters # Minimum depth: 500.313575 meters looking forward 0.000000 meters along route # Maximum depth: 500.313575 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 460.313575 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.901735; longitude = -117.320980; captureRadius = 10; duration = 50; initialDepth = 448.283697; finalDepth = 460.313575; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:460.313575 # Seafloor depth:-500.313575 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 98 # Segment length 50.765818 meters # Minimum depth: 488.283697 meters looking forward 0.000000 meters along route # Maximum depth: 488.283697 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 448.283697 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.901303; longitude = -117.320710; captureRadius = 10; duration = 50; initialDepth = 444.349495; finalDepth = 448.283697; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:448.283697 # Seafloor depth:-488.283697 # 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 97 # Segment length 50.765818 meters # Minimum depth: 484.349495 meters looking forward 0.000000 meters along route # Maximum depth: 484.349495 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 444.349495 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.900878; longitude = -117.320443; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 431.244223; finalDepth = 444.349495; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:444.349495 # Seafloor depth:-484.349495 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 97 # Segment length 50.765818 meters # Minimum depth: 471.244223 meters looking forward 0.000000 meters along route # Maximum depth: 471.244223 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 431.244223 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.900517; longitude = -117.320235; captureRadius = 10; duration = 50; initialDepth = 426.118047; finalDepth = 431.244223; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:431.244223 # Seafloor depth:-471.244223 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 97 # Segment length 50.765818 meters # Minimum depth: 466.118047 meters looking forward 0.000000 meters along route # Maximum depth: 466.118047 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 426.118047 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.900111; longitude = -117.320001; captureRadius = 10; duration = 50; initialDepth = 420.133898; finalDepth = 426.118047; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:426.118047 # Seafloor depth:-466.118047 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 97 # Segment length 50.765818 meters # Minimum depth: 460.133898 meters looking forward 0.000000 meters along route # Maximum depth: 460.133898 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 420.133898 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.899705; longitude = -117.319766; captureRadius = 10; duration = 50; initialDepth = 426.318379; finalDepth = 420.133898; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:420.133898 # Seafloor depth:-460.133898 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 97 # Segment length 50.765818 meters # Minimum depth: 466.318379 meters looking forward 0.000000 meters along route # Maximum depth: 466.318379 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 426.318379 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.899299; longitude = -117.319532; captureRadius = 10; duration = 50; initialDepth = 420.131897; finalDepth = 426.318379; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:426.318379 # Seafloor depth:-466.318379 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 97 # Segment length 50.765818 meters # Minimum depth: 460.131897 meters looking forward 0.000000 meters along route # Maximum depth: 460.131897 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 420.131897 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.898894; longitude = -117.319298; captureRadius = 10; duration = 50; initialDepth = 417.092688; finalDepth = 420.131897; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:420.131897 # Seafloor depth:-460.131897 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 97 # Segment length 50.765818 meters # Minimum depth: 457.092688 meters looking forward 0.000000 meters along route # Maximum depth: 457.092688 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 417.092688 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.898488; longitude = -117.319064; captureRadius = 10; duration = 50; initialDepth = 410.098514; finalDepth = 417.092688; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:417.092688 # Seafloor depth:-457.092688 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 97 # Segment length 50.765818 meters # Minimum depth: 450.098514 meters looking forward 0.000000 meters along route # Maximum depth: 450.098514 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 410.098514 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.898082; longitude = -117.318829; captureRadius = 10; duration = 50; initialDepth = 399.837406; finalDepth = 410.098514; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:410.098514 # Seafloor depth:-450.098514 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 97 # Segment length 50.765818 meters # Minimum depth: 439.837406 meters looking forward 0.000000 meters along route # Maximum depth: 439.837406 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 399.837406 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.897676; longitude = -117.318595; captureRadius = 10; duration = 50; initialDepth = 389.111467; finalDepth = 399.837406; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:399.837406 # Seafloor depth:-439.837406 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 97 # Segment length 50.765818 meters # Minimum depth: 429.111467 meters looking forward 0.000000 meters along route # Maximum depth: 429.111467 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 389.111467 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.897270; longitude = -117.318361; captureRadius = 10; duration = 50; initialDepth = 385.974417; finalDepth = 389.111467; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:389.111467 # Seafloor depth:-429.111467 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 97 # Segment length 50.765818 meters # Minimum depth: 425.974417 meters looking forward 0.000000 meters along route # Maximum depth: 425.974417 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 385.974417 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.896864; longitude = -117.318127; captureRadius = 10; duration = 50; initialDepth = 381.573970; finalDepth = 385.974417; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:385.974417 # Seafloor depth:-425.974417 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 97 # Segment length 50.765818 meters # Minimum depth: 421.573970 meters looking forward 0.000000 meters along route # Maximum depth: 421.573970 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 381.573970 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.896458; longitude = -117.317892; captureRadius = 10; duration = 50; initialDepth = 381.199226; finalDepth = 381.573970; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:381.57397 # Seafloor depth:-421.573970 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 97 # Segment length 50.765818 meters # Minimum depth: 421.199226 meters looking forward 0.000000 meters along route # Maximum depth: 421.199226 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 381.199226 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.896052; longitude = -117.317658; captureRadius = 10; duration = 50; initialDepth = 381.354889; finalDepth = 381.199226; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:381.199226 # Seafloor depth:-421.199226 # 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 96 # Segment length 50.765818 meters # Minimum depth: 421.354889 meters looking forward 0.000000 meters along route # Maximum depth: 421.354889 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 381.354889 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.895601; longitude = -117.317398; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 379.672245; finalDepth = 381.354889; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:381.354889 # Seafloor depth:-421.354889 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 96 # Segment length 50.765818 meters # Minimum depth: 419.672245 meters looking forward 0.000000 meters along route # Maximum depth: 419.672245 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 379.672245 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.895240; longitude = -117.317113; captureRadius = 10; duration = 50; initialDepth = 379.051679; finalDepth = 379.672245; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:379.672245 # Seafloor depth:-419.672245 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 96 # Segment length 50.765818 meters # Minimum depth: 419.051679 meters looking forward 0.000000 meters along route # Maximum depth: 419.051679 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 379.051679 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.894834; longitude = -117.316793; captureRadius = 10; duration = 50; initialDepth = 378.102139; finalDepth = 379.051679; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:379.051679 # Seafloor depth:-419.051679 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 96 # Segment length 50.765818 meters # Minimum depth: 418.102139 meters looking forward 0.000000 meters along route # Maximum depth: 418.102139 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 378.102139 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.894428; longitude = -117.316472; captureRadius = 10; duration = 50; initialDepth = 377.410437; finalDepth = 378.102139; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:378.102139 # Seafloor depth:-418.102139 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 96 # Segment length 50.765818 meters # Minimum depth: 417.410437 meters looking forward 0.000000 meters along route # Maximum depth: 417.410437 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 377.410437 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.894022; longitude = -117.316152; captureRadius = 10; duration = 50; initialDepth = 377.619683; finalDepth = 377.410437; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:377.410437 # Seafloor depth:-417.410437 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 96 # Segment length 50.765818 meters # Minimum depth: 417.619683 meters looking forward 0.000000 meters along route # Maximum depth: 417.619683 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 377.619683 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.893616; longitude = -117.315831; captureRadius = 10; duration = 50; initialDepth = 375.817487; finalDepth = 377.619683; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:377.619683 # Seafloor depth:-417.619683 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 96 # Segment length 50.765818 meters # Minimum depth: 415.817487 meters looking forward 0.000000 meters along route # Maximum depth: 415.817487 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 375.817487 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.893210; longitude = -117.315511; captureRadius = 10; duration = 50; initialDepth = 385.138034; finalDepth = 375.817487; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:375.817487 # Seafloor depth:-415.817487 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 96 # Segment length 50.765818 meters # Minimum depth: 425.138034 meters looking forward 0.000000 meters along route # Maximum depth: 425.138034 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 385.138034 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.892805; longitude = -117.315190; captureRadius = 10; duration = 50; initialDepth = 390.635270; finalDepth = 385.138034; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:385.138034 # Seafloor depth:-425.138034 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 96 # Segment length 50.765818 meters # Minimum depth: 430.635270 meters looking forward 0.000000 meters along route # Maximum depth: 430.635270 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 390.635270 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.892399; longitude = -117.314870; captureRadius = 10; duration = 50; initialDepth = 397.712578; finalDepth = 390.635270; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:390.63527 # Seafloor depth:-430.635270 # 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 95 # Segment length 50.765818 meters # Minimum depth: 437.712578 meters looking forward 0.000000 meters along route # Maximum depth: 437.712578 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 397.712578 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.891948; longitude = -117.314514; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 396.576636; finalDepth = 397.712578; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:397.712578 # Seafloor depth:-437.712578 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 95 # Segment length 50.765818 meters # Minimum depth: 436.576636 meters looking forward 0.000000 meters along route # Maximum depth: 436.576636 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 396.576636 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.891941; longitude = -117.314140; captureRadius = 10; duration = 50; initialDepth = 393.596905; finalDepth = 396.576636; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:396.576636 # Seafloor depth:-436.576636 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 95 # Segment length 50.765818 meters # Minimum depth: 433.596905 meters looking forward 0.000000 meters along route # Maximum depth: 433.596905 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 393.596905 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.891928; longitude = -117.313499; captureRadius = 10; duration = 50; initialDepth = 393.938903; finalDepth = 393.596905; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:393.596905 # Seafloor depth:-433.596905 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 95 # Segment length 50.765818 meters # Minimum depth: 433.938903 meters looking forward 0.000000 meters along route # Maximum depth: 433.938903 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 393.938903 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.891916; longitude = -117.312858; captureRadius = 10; duration = 50; initialDepth = 403.028107; finalDepth = 393.938903; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:393.938903 # Seafloor depth:-433.938903 # 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 94 # Segment length 50.765818 meters # Minimum depth: 443.028107 meters looking forward 0.000000 meters along route # Maximum depth: 443.028107 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 403.028107 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.891902; longitude = -117.312164; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 403.295396; finalDepth = 403.028107; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:403.028107 # Seafloor depth:-443.028107 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 94 # Segment length 50.765818 meters # Minimum depth: 443.295396 meters looking forward 0.000000 meters along route # Maximum depth: 443.295396 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 403.295396 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.892128; longitude = -117.311860; captureRadius = 10; duration = 50; initialDepth = 404.473490; finalDepth = 403.295396; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:403.295396 # Seafloor depth:-443.295396 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 94 # Segment length 50.765818 meters # Minimum depth: 444.473490 meters looking forward 0.000000 meters along route # Maximum depth: 444.473490 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 404.473490 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.892458; longitude = -117.311416; captureRadius = 10; duration = 50; initialDepth = 402.974972; finalDepth = 404.473490; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:404.47349 # Seafloor depth:-444.473490 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 94 # Segment length 50.765818 meters # Minimum depth: 442.974972 meters looking forward 0.000000 meters along route # Maximum depth: 442.974972 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 402.974972 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.892815; longitude = -117.310935; captureRadius = 10; duration = 50; initialDepth = 400.847002; finalDepth = 402.974972; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:402.974972 # Seafloor depth:-442.974972 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 94 # Segment length 50.765818 meters # Minimum depth: 440.847002 meters looking forward 0.000000 meters along route # Maximum depth: 440.847002 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 400.847002 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.893210; longitude = -117.310403; captureRadius = 10; duration = 50; initialDepth = 399.628069; finalDepth = 400.847002; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:400.847002 # Seafloor depth:-440.847002 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 94 # Segment length 50.765818 meters # Minimum depth: 439.628069 meters looking forward 0.000000 meters along route # Maximum depth: 439.628069 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 399.628069 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.893529; longitude = -117.309974; captureRadius = 10; duration = 50; initialDepth = 398.487720; finalDepth = 399.628069; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:399.628069 # Seafloor depth:-439.628069 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 94 # Segment length 50.765818 meters # Minimum depth: 438.487720 meters looking forward 0.000000 meters along route # Maximum depth: 438.487720 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 398.487720 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.893887; longitude = -117.309493; captureRadius = 10; duration = 50; initialDepth = 397.515064; finalDepth = 398.487720; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:398.48772 # Seafloor depth:-438.487720 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 94 # Segment length 50.765818 meters # Minimum depth: 437.515064 meters looking forward 0.000000 meters along route # Maximum depth: 437.515064 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 397.515064 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.894244; longitude = -117.309013; captureRadius = 10; duration = 50; initialDepth = 396.015878; finalDepth = 397.515064; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:397.515064 # Seafloor depth:-437.515064 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 94 # Segment length 50.765818 meters # Minimum depth: 436.015878 meters looking forward 0.000000 meters along route # Maximum depth: 436.015878 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 396.015878 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.894564; longitude = -117.308582; captureRadius = 10; duration = 50; initialDepth = 394.001617; finalDepth = 396.015878; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:396.015878 # Seafloor depth:-436.015878 # 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 93 # Segment length 50.765818 meters # Minimum depth: 434.001617 meters looking forward 0.000000 meters along route # Maximum depth: 434.001617 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 394.001617 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.894879; longitude = -117.308158; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 392.311195; finalDepth = 394.001617; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:394.001617 # Seafloor depth:-434.001617 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 93 # Segment length 50.765818 meters # Minimum depth: 432.311195 meters looking forward 0.000000 meters along route # Maximum depth: 432.311195 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 392.311195 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.895156; longitude = -117.307731; captureRadius = 10; duration = 50; initialDepth = 391.375409; finalDepth = 392.311195; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:392.311195 # Seafloor depth:-432.311195 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 93 # Segment length 50.765818 meters # Minimum depth: 431.375409 meters looking forward 0.000000 meters along route # Maximum depth: 431.375409 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 391.375409 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.895467; longitude = -117.307250; captureRadius = 10; duration = 50; initialDepth = 393.722532; finalDepth = 391.375409; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:391.375409 # Seafloor depth:-431.375409 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 93 # Segment length 50.765818 meters # Minimum depth: 433.722532 meters looking forward 0.000000 meters along route # Maximum depth: 433.722532 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 393.722532 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.895781; longitude = -117.306764; captureRadius = 10; duration = 50; initialDepth = 389.035458; finalDepth = 393.722532; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:393.722532 # Seafloor depth:-433.722532 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 93 # Segment length 50.765818 meters # Minimum depth: 429.035458 meters looking forward 0.000000 meters along route # Maximum depth: 429.035458 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 389.035458 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.896089; longitude = -117.306289; captureRadius = 10; duration = 50; initialDepth = 388.480536; finalDepth = 389.035458; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:389.035458 # Seafloor depth:-429.035458 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 93 # Segment length 50.765818 meters # Minimum depth: 428.480536 meters looking forward 0.000000 meters along route # Maximum depth: 428.480536 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 388.480536 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.896400; longitude = -117.305808; captureRadius = 10; duration = 50; initialDepth = 386.721920; finalDepth = 388.480536; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:388.480536 # Seafloor depth:-428.480536 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 93 # Segment length 50.765818 meters # Minimum depth: 426.721920 meters looking forward 0.000000 meters along route # Maximum depth: 426.721920 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 386.721920 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.896729; longitude = -117.305301; captureRadius = 10; duration = 50; initialDepth = 385.605792; finalDepth = 386.721920; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:386.72192 # Seafloor depth:-426.721920 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 93 # Segment length 50.765818 meters # Minimum depth: 425.605792 meters looking forward 0.000000 meters along route # Maximum depth: 425.605792 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 385.605792 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.897023; longitude = -117.304847; captureRadius = 10; duration = 50; initialDepth = 382.826764; finalDepth = 385.605792; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:385.605792 # Seafloor depth:-425.605792 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 93 # Segment length 50.765818 meters # Minimum depth: 422.826764 meters looking forward 0.000000 meters along route # Maximum depth: 422.826764 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 382.826764 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.897334; longitude = -117.304366; captureRadius = 10; duration = 50; initialDepth = 379.851003; finalDepth = 382.826764; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:382.826764 # Seafloor depth:-422.826764 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 93 # Segment length 50.765818 meters # Minimum depth: 419.851003 meters looking forward 0.000000 meters along route # Maximum depth: 419.851003 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 379.851003 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.897676; longitude = -117.303838; captureRadius = 10; duration = 50; initialDepth = 375.863945; finalDepth = 379.851003; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:379.851003 # Seafloor depth:-419.851003 # 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 92 # Segment length 50.765818 meters # Minimum depth: 415.863945 meters looking forward 0.000000 meters along route # Maximum depth: 415.863945 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 375.863945 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.897991; longitude = -117.303351; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 375.619321; finalDepth = 375.863945; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:375.863945 # Seafloor depth:-415.863945 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 92 # Segment length 50.765818 meters # Minimum depth: 415.619321 meters looking forward 0.000000 meters along route # Maximum depth: 415.619321 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 375.619321 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.897864; longitude = -117.302764; captureRadius = 10; duration = 50; initialDepth = 376.903235; finalDepth = 375.619321; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:375.619321 # Seafloor depth:-415.619321 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 92 # Segment length 50.765818 meters # Minimum depth: 416.903235 meters looking forward 0.000000 meters along route # Maximum depth: 416.903235 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 376.903235 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.897724; longitude = -117.302123; captureRadius = 10; duration = 50; initialDepth = 375.779747; finalDepth = 376.903235; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:376.903235 # Seafloor depth:-416.903235 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 92 # Segment length 50.765818 meters # Minimum depth: 415.779747 meters looking forward 0.000000 meters along route # Maximum depth: 415.779747 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 375.779747 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.897585; longitude = -117.301482; captureRadius = 10; duration = 50; initialDepth = 377.783615; finalDepth = 375.779747; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:375.779747 # Seafloor depth:-415.779747 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 92 # Segment length 50.765818 meters # Minimum depth: 417.783615 meters looking forward 0.000000 meters along route # Maximum depth: 417.783615 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 377.783615 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.897446; longitude = -117.300841; captureRadius = 10; duration = 50; initialDepth = 377.182426; finalDepth = 377.783615; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:377.783615 # Seafloor depth:-417.783615 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 92 # Segment length 50.765818 meters # Minimum depth: 417.182426 meters looking forward 0.000000 meters along route # Maximum depth: 417.182426 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 377.182426 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.897307; longitude = -117.300200; captureRadius = 10; duration = 50; initialDepth = 375.829291; finalDepth = 377.182426; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:377.182426 # Seafloor depth:-417.182426 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 92 # Segment length 50.765818 meters # Minimum depth: 415.829291 meters looking forward 0.000000 meters along route # Maximum depth: 415.829291 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 375.829291 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.897168; longitude = -117.299559; captureRadius = 10; duration = 50; initialDepth = 374.312696; finalDepth = 375.829291; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:375.829291 # Seafloor depth:-415.829291 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 92 # Segment length 50.765818 meters # Minimum depth: 414.312696 meters looking forward 0.000000 meters along route # Maximum depth: 414.312696 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 374.312696 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.897029; longitude = -117.298918; captureRadius = 10; duration = 50; initialDepth = 372.053063; finalDepth = 374.312696; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:374.312696 # Seafloor depth:-414.312696 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 92 # Segment length 50.765818 meters # Minimum depth: 412.053063 meters looking forward 0.000000 meters along route # Maximum depth: 412.053063 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 372.053063 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.896890; longitude = -117.298277; captureRadius = 10; duration = 50; initialDepth = 372.582359; finalDepth = 372.053063; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:372.053063 # Seafloor depth:-412.053063 # 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 91 # Segment length 50.765818 meters # Minimum depth: 412.582359 meters looking forward 0.000000 meters along route # Maximum depth: 412.582359 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 372.582359 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.896774; longitude = -117.297743; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 372.553890; finalDepth = 372.582359; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:372.582359 # Seafloor depth:-412.582359 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 91 # Segment length 50.765818 meters # Minimum depth: 412.553890 meters looking forward 0.000000 meters along route # Maximum depth: 412.553890 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 372.553890 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.896652; longitude = -117.297476; captureRadius = 10; duration = 50; initialDepth = 368.518058; finalDepth = 372.553890; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:372.55389 # Seafloor depth:-412.553890 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 91 # Segment length 50.765818 meters # Minimum depth: 408.518058 meters looking forward 0.000000 meters along route # Maximum depth: 408.518058 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 368.518058 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.896434; longitude = -117.296995; captureRadius = 10; duration = 50; initialDepth = 364.684271; finalDepth = 368.518058; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:368.518058 # Seafloor depth:-408.518058 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 91 # Segment length 50.765818 meters # Minimum depth: 404.684271 meters looking forward 0.000000 meters along route # Maximum depth: 404.684271 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 364.684271 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.896215; longitude = -117.296514; captureRadius = 10; duration = 50; initialDepth = 363.339973; finalDepth = 364.684271; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:364.684271 # Seafloor depth:-404.684271 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 91 # Segment length 50.765818 meters # Minimum depth: 403.339973 meters looking forward 0.000000 meters along route # Maximum depth: 403.339973 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 363.339973 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.895997; longitude = -117.296034; captureRadius = 10; duration = 50; initialDepth = 360.173694; finalDepth = 363.339973; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:363.339973 # Seafloor depth:-403.339973 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 91 # Segment length 50.765818 meters # Minimum depth: 400.173694 meters looking forward 0.000000 meters along route # Maximum depth: 400.173694 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 360.173694 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.895778; longitude = -117.295553; captureRadius = 10; duration = 50; initialDepth = 357.378253; finalDepth = 360.173694; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:360.173694 # Seafloor depth:-400.173694 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 91 # Segment length 50.765818 meters # Minimum depth: 397.378253 meters looking forward 0.000000 meters along route # Maximum depth: 397.378253 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 357.378253 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.895559; longitude = -117.295072; captureRadius = 10; duration = 50; initialDepth = 347.015676; finalDepth = 357.378253; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:357.378253 # Seafloor depth:-397.378253 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 91 # Segment length 50.765818 meters # Minimum depth: 387.015676 meters looking forward 0.000000 meters along route # Maximum depth: 387.015676 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 347.015676 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.895341; longitude = -117.294592; captureRadius = 10; duration = 50; initialDepth = 343.675872; finalDepth = 347.015676; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:347.015676 # Seafloor depth:-387.015676 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 91 # Segment length 50.765818 meters # Minimum depth: 383.675872 meters looking forward 0.000000 meters along route # Maximum depth: 383.675872 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 343.675872 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.895105; longitude = -117.294073; captureRadius = 10; duration = 50; initialDepth = 333.964958; finalDepth = 343.675872; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:343.675872 # Seafloor depth:-383.675872 # 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 90 # Segment length 50.765818 meters # Minimum depth: 373.964958 meters looking forward 0.000000 meters along route # Maximum depth: 373.964958 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 333.964958 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.894879; longitude = -117.293577; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 334.848032; finalDepth = 333.964958; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:333.964958 # Seafloor depth:-373.964958 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 90 # Segment length 50.765818 meters # Minimum depth: 374.848032 meters looking forward 0.000000 meters along route # Maximum depth: 374.848032 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 334.848032 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.894834; longitude = -117.293527; captureRadius = 10; duration = 50; initialDepth = 335.128068; finalDepth = 334.848032; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:334.848032 # Seafloor depth:-374.848032 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 90 # Segment length 50.765818 meters # Minimum depth: 375.128068 meters looking forward 0.000000 meters along route # Maximum depth: 375.128068 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 335.128068 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.894496; longitude = -117.293150; captureRadius = 10; duration = 50; initialDepth = 335.090145; finalDepth = 335.128068; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:335.128068 # Seafloor depth:-375.128068 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 90 # Segment length 50.765818 meters # Minimum depth: 375.090145 meters looking forward 0.000000 meters along route # Maximum depth: 375.090145 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 335.090145 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.894158; longitude = -117.292773; captureRadius = 10; duration = 50; initialDepth = 331.238791; finalDepth = 335.090145; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:335.090145 # Seafloor depth:-375.090145 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 90 # Segment length 50.765818 meters # Minimum depth: 371.238791 meters looking forward 0.000000 meters along route # Maximum depth: 371.238791 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 331.238791 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.893752; longitude = -117.292320; captureRadius = 10; duration = 50; initialDepth = 329.659711; finalDepth = 331.238791; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:331.238791 # Seafloor depth:-371.238791 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 90 # Segment length 50.765818 meters # Minimum depth: 369.659711 meters looking forward 0.000000 meters along route # Maximum depth: 369.659711 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 329.659711 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.893346; longitude = -117.291868; captureRadius = 10; duration = 50; initialDepth = 329.675291; finalDepth = 329.659711; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:329.659711 # Seafloor depth:-369.659711 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 90 # Segment length 50.765818 meters # Minimum depth: 369.675291 meters looking forward 0.000000 meters along route # Maximum depth: 369.675291 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 329.675291 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.892914; longitude = -117.291387; captureRadius = 10; duration = 50; initialDepth = 324.509491; finalDepth = 329.675291; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:329.675291 # Seafloor depth:-369.675291 # 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 89 # Segment length 50.765818 meters # Minimum depth: 364.509491 meters looking forward 0.000000 meters along route # Maximum depth: 364.509491 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 324.509491 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.892579; longitude = -117.291013; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 323.590462; finalDepth = 324.509491; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:324.509491 # Seafloor depth:-364.509491 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 50.765818 meters # Minimum depth: 363.590462 meters looking forward 0.000000 meters along route # Maximum depth: 363.590462 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 323.590462 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.892263; longitude = -117.290726; captureRadius = 10; duration = 50; initialDepth = 318.571271; finalDepth = 323.590462; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:323.590462 # Seafloor depth:-363.590462 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 50.765818 meters # Minimum depth: 358.571271 meters looking forward 0.000000 meters along route # Maximum depth: 358.571271 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 318.571271 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.891857; longitude = -117.290358; captureRadius = 10; duration = 50; initialDepth = 309.458406; finalDepth = 318.571271; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:318.571271 # Seafloor depth:-358.571271 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 50.765818 meters # Minimum depth: 349.458406 meters looking forward 0.000000 meters along route # Maximum depth: 349.458406 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 309.458406 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.891451; longitude = -117.289990; captureRadius = 10; duration = 50; initialDepth = 312.202690; finalDepth = 309.458406; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:309.458406 # Seafloor depth:-349.458406 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 50.765818 meters # Minimum depth: 352.202690 meters looking forward 0.000000 meters along route # Maximum depth: 352.202690 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 312.202690 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.891046; longitude = -117.289621; captureRadius = 10; duration = 50; initialDepth = 312.850887; finalDepth = 312.202690; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:312.20269 # Seafloor depth:-352.202690 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 50.765818 meters # Minimum depth: 352.850887 meters looking forward 0.000000 meters along route # Maximum depth: 352.850887 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 312.850887 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.890640; longitude = -117.289253; captureRadius = 10; duration = 50; initialDepth = 309.351482; finalDepth = 312.850887; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:312.850887 # Seafloor depth:-352.850887 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 50.765818 meters # Minimum depth: 349.351482 meters looking forward 0.000000 meters along route # Maximum depth: 349.351482 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 309.351482 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.890234; longitude = -117.288884; captureRadius = 10; duration = 50; initialDepth = 304.447294; finalDepth = 309.351482; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:309.351482 # Seafloor depth:-349.351482 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 50.765818 meters # Minimum depth: 344.447294 meters looking forward 0.000000 meters along route # Maximum depth: 344.447294 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 304.447294 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.889813; longitude = -117.288503; captureRadius = 10; duration = 50; initialDepth = 292.796926; finalDepth = 304.447294; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:304.447294 # Seafloor depth:-344.447294 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 50.765818 meters # Minimum depth: 332.796926 meters looking forward 0.000000 meters along route # Maximum depth: 332.796926 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 292.796926 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.889422; longitude = -117.288148; captureRadius = 10; duration = 50; initialDepth = 287.640658; finalDepth = 292.796926; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:292.796926 # Seafloor depth:-332.796926 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 50.765818 meters # Minimum depth: 327.640658 meters looking forward 0.000000 meters along route # Maximum depth: 327.640658 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 287.640658 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.889016; longitude = -117.287779; captureRadius = 10; duration = 50; initialDepth = 278.372761; finalDepth = 287.640658; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:287.640658 # Seafloor depth:-327.640658 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 50.765818 meters # Minimum depth: 318.372761 meters looking forward 0.000000 meters along route # Maximum depth: 318.372761 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 278.372761 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.888577; longitude = -117.287381; captureRadius = 10; duration = 50; initialDepth = 294.424203; finalDepth = 278.372761; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:278.372761 # Seafloor depth:-318.372761 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 50.765818 meters # Minimum depth: 334.424203 meters looking forward 0.000000 meters along route # Maximum depth: 334.424203 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 294.424203 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.888204; longitude = -117.287042; captureRadius = 10; duration = 50; initialDepth = 293.456276; finalDepth = 294.424203; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:294.424203 # Seafloor depth:-334.424203 # 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 88 # Segment length 50.765818 meters # Minimum depth: 333.456276 meters looking forward 0.000000 meters along route # Maximum depth: 333.456276 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 293.456276 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.887753; longitude = -117.286633; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 295.108558; finalDepth = 293.456276; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:293.456276 # Seafloor depth:-333.456276 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 88 # Segment length 50.765818 meters # Minimum depth: 335.108558 meters looking forward 0.000000 meters along route # Maximum depth: 335.108558 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 295.108558 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.887663; longitude = -117.286671; captureRadius = 10; duration = 50; initialDepth = 299.967518; finalDepth = 295.108558; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:295.108558 # Seafloor depth:-335.108558 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 88 # Segment length 50.765818 meters # Minimum depth: 339.967518 meters looking forward 0.000000 meters along route # Maximum depth: 339.967518 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 299.967518 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.887111; longitude = -117.286900; captureRadius = 10; duration = 50; initialDepth = 306.255974; finalDepth = 299.967518; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:299.967518 # Seafloor depth:-339.967518 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 88 # Segment length 50.765818 meters # Minimum depth: 346.255974 meters looking forward 0.000000 meters along route # Maximum depth: 346.255974 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 306.255974 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.886580; longitude = -117.287121; captureRadius = 10; duration = 50; initialDepth = 323.424248; finalDepth = 306.255974; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:306.255974 # Seafloor depth:-346.255974 # 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 87 # Segment length 50.765818 meters # Minimum depth: 363.424248 meters looking forward 0.000000 meters along route # Maximum depth: 363.424248 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 323.424248 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.886084; longitude = -117.287328; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 329.310184; finalDepth = 323.424248; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:323.424248 # Seafloor depth:-363.424248 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 50.765818 meters # Minimum depth: 369.310184 meters looking forward 0.000000 meters along route # Maximum depth: 369.310184 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 329.310184 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.886331; longitude = -117.287541; captureRadius = 10; duration = 50; initialDepth = 335.434560; finalDepth = 329.310184; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:329.310184 # Seafloor depth:-369.310184 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 50.765818 meters # Minimum depth: 375.434560 meters looking forward 0.000000 meters along route # Maximum depth: 375.434560 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 335.434560 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.886702; longitude = -117.287862; captureRadius = 10; duration = 50; initialDepth = 339.618310; finalDepth = 335.434560; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:335.43456 # Seafloor depth:-375.434560 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 50.765818 meters # Minimum depth: 379.618310 meters looking forward 0.000000 meters along route # Maximum depth: 379.618310 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 339.618310 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.887073; longitude = -117.288182; captureRadius = 10; duration = 50; initialDepth = 345.587093; finalDepth = 339.618310; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:339.61831 # Seafloor depth:-379.618310 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 50.765818 meters # Minimum depth: 385.587093 meters looking forward 0.000000 meters along route # Maximum depth: 385.587093 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 345.587093 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.887444; longitude = -117.288503; captureRadius = 10; duration = 50; initialDepth = 345.172197; finalDepth = 345.587093; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:345.587093 # Seafloor depth:-385.587093 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 50.765818 meters # Minimum depth: 385.172197 meters looking forward 0.000000 meters along route # Maximum depth: 385.172197 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 345.172197 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.887815; longitude = -117.288823; captureRadius = 10; duration = 50; initialDepth = 342.167635; finalDepth = 345.172197; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:345.172197 # Seafloor depth:-385.172197 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 50.765818 meters # Minimum depth: 382.167635 meters looking forward 0.000000 meters along route # Maximum depth: 382.167635 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 342.167635 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.888185; longitude = -117.289144; captureRadius = 10; duration = 50; initialDepth = 340.365763; finalDepth = 342.167635; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:342.167635 # Seafloor depth:-382.167635 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 50.765818 meters # Minimum depth: 380.365763 meters looking forward 0.000000 meters along route # Maximum depth: 380.365763 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 340.365763 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.888556; longitude = -117.289464; captureRadius = 10; duration = 50; initialDepth = 338.616877; finalDepth = 340.365763; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:340.365763 # Seafloor depth:-380.365763 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 50.765818 meters # Minimum depth: 378.616877 meters looking forward 0.000000 meters along route # Maximum depth: 378.616877 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 338.616877 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.888927; longitude = -117.289785; captureRadius = 10; duration = 50; initialDepth = 322.304926; finalDepth = 338.616877; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:338.616877 # Seafloor depth:-378.616877 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 50.765818 meters # Minimum depth: 362.304926 meters looking forward 0.000000 meters along route # Maximum depth: 362.304926 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 322.304926 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.889298; longitude = -117.290105; captureRadius = 10; duration = 50; initialDepth = 324.574833; finalDepth = 322.304926; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:322.304926 # Seafloor depth:-362.304926 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 50.765818 meters # Minimum depth: 364.574833 meters looking forward 0.000000 meters along route # Maximum depth: 364.574833 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 324.574833 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.889669; longitude = -117.290426; captureRadius = 10; duration = 50; initialDepth = 327.063678; finalDepth = 324.574833; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:324.574833 # Seafloor depth:-364.574833 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 50.765818 meters # Minimum depth: 367.063678 meters looking forward 0.000000 meters along route # Maximum depth: 367.063678 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 327.063678 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.890040; longitude = -117.290746; captureRadius = 10; duration = 50; initialDepth = 330.043487; finalDepth = 327.063678; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:327.063678 # Seafloor depth:-367.063678 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 50.765818 meters # Minimum depth: 370.043487 meters looking forward 0.000000 meters along route # Maximum depth: 370.043487 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 330.043487 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.890411; longitude = -117.291066; captureRadius = 10; duration = 50; initialDepth = 335.191174; finalDepth = 330.043487; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:330.043487 # Seafloor depth:-370.043487 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 50.765818 meters # Minimum depth: 375.191174 meters looking forward 0.000000 meters along route # Maximum depth: 375.191174 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 335.191174 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.890782; longitude = -117.291387; captureRadius = 10; duration = 50; initialDepth = 339.750328; finalDepth = 335.191174; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:335.191174 # Seafloor depth:-375.191174 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 50.765818 meters # Minimum depth: 379.750328 meters looking forward 0.000000 meters along route # Maximum depth: 379.750328 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 339.750328 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.891153; longitude = -117.291707; captureRadius = 10; duration = 50; initialDepth = 340.154505; finalDepth = 339.750328; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:339.750328 # Seafloor depth:-379.750328 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 50.765818 meters # Minimum depth: 380.154505 meters looking forward 0.000000 meters along route # Maximum depth: 380.154505 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 340.154505 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.891524; longitude = -117.292028; captureRadius = 10; duration = 50; initialDepth = 341.450844; finalDepth = 340.154505; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:340.154505 # Seafloor depth:-380.154505 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 50.765818 meters # Minimum depth: 381.450844 meters looking forward 0.000000 meters along route # Maximum depth: 381.450844 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 341.450844 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.891894; longitude = -117.292348; captureRadius = 10; duration = 50; initialDepth = 344.990231; finalDepth = 341.450844; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:341.450844 # Seafloor depth:-381.450844 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 50.765818 meters # Minimum depth: 384.990231 meters looking forward 0.000000 meters along route # Maximum depth: 384.990231 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 344.990231 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.892265; longitude = -117.292669; captureRadius = 10; duration = 50; initialDepth = 345.827695; finalDepth = 344.990231; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:344.990231 # Seafloor depth:-384.990231 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 50.765818 meters # Minimum depth: 385.827695 meters looking forward 0.000000 meters along route # Maximum depth: 385.827695 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 345.827695 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.892636; longitude = -117.292989; captureRadius = 10; duration = 50; initialDepth = 347.066714; finalDepth = 345.827695; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:345.827695 # Seafloor depth:-385.827695 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 50.765818 meters # Minimum depth: 387.066714 meters looking forward 0.000000 meters along route # Maximum depth: 387.066714 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 347.066714 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.893007; longitude = -117.293310; captureRadius = 10; duration = 50; initialDepth = 349.339424; finalDepth = 347.066714; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:347.066714 # Seafloor depth:-387.066714 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 50.765818 meters # Minimum depth: 389.339424 meters looking forward 0.000000 meters along route # Maximum depth: 389.339424 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 349.339424 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.893378; longitude = -117.293630; captureRadius = 10; duration = 50; initialDepth = 348.939741; finalDepth = 349.339424; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:349.339424 # Seafloor depth:-389.339424 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 50.765818 meters # Minimum depth: 388.939741 meters looking forward 0.000000 meters along route # Maximum depth: 388.939741 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 348.939741 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.893752; longitude = -117.293953; captureRadius = 10; duration = 50; initialDepth = 352.004383; finalDepth = 348.939741; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:348.939741 # Seafloor depth:-388.939741 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 50.765818 meters # Minimum depth: 392.004383 meters looking forward 0.000000 meters along route # Maximum depth: 392.004383 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 352.004383 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.894120; longitude = -117.294271; captureRadius = 10; duration = 50; initialDepth = 355.760904; finalDepth = 352.004383; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:352.004383 # Seafloor depth:-392.004383 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 50.765818 meters # Minimum depth: 395.760904 meters looking forward 0.000000 meters along route # Maximum depth: 395.760904 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 355.760904 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.894491; longitude = -117.294592; captureRadius = 10; duration = 50; initialDepth = 358.862320; finalDepth = 355.760904; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:355.760904 # Seafloor depth:-395.760904 # 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 86 # Segment length 50.765818 meters # Minimum depth: 398.862320 meters looking forward 0.000000 meters along route # Maximum depth: 398.862320 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 358.862320 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.894924; longitude = -117.294966; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 361.986420; finalDepth = 358.862320; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:358.86232 # Seafloor depth:-398.862320 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 86 # Segment length 50.765818 meters # Minimum depth: 401.986420 meters looking forward 0.000000 meters along route # Maximum depth: 401.986420 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 361.986420 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.895015; longitude = -117.295553; captureRadius = 10; duration = 50; initialDepth = 363.143154; finalDepth = 361.986420; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:361.98642 # Seafloor depth:-401.986420 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 86 # Segment length 50.765818 meters # Minimum depth: 403.143154 meters looking forward 0.000000 meters along route # Maximum depth: 403.143154 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 363.143154 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.895105; longitude = -117.296135; captureRadius = 10; duration = 50; initialDepth = 366.978597; finalDepth = 363.143154; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:363.143154 # Seafloor depth:-403.143154 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 86 # Segment length 50.765818 meters # Minimum depth: 406.978597 meters looking forward 0.000000 meters along route # Maximum depth: 406.978597 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 366.978597 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.895188; longitude = -117.296675; captureRadius = 10; duration = 50; initialDepth = 359.822728; finalDepth = 366.978597; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:366.978597 # Seafloor depth:-406.978597 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 86 # Segment length 50.765818 meters # Minimum depth: 399.822728 meters looking forward 0.000000 meters along route # Maximum depth: 399.822728 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 359.822728 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.895287; longitude = -117.297316; captureRadius = 10; duration = 50; initialDepth = 358.337586; finalDepth = 359.822728; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:359.822728 # Seafloor depth:-399.822728 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 86 # Segment length 50.765818 meters # Minimum depth: 398.337586 meters looking forward 0.000000 meters along route # Maximum depth: 398.337586 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 358.337586 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.895375; longitude = -117.297885; captureRadius = 10; duration = 50; initialDepth = 358.986201; finalDepth = 358.337586; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:358.337586 # Seafloor depth:-398.337586 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 86 # Segment length 50.765818 meters # Minimum depth: 398.986201 meters looking forward 0.000000 meters along route # Maximum depth: 398.986201 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 358.986201 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.895461; longitude = -117.298437; captureRadius = 10; duration = 50; initialDepth = 359.968089; finalDepth = 358.986201; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:358.986201 # Seafloor depth:-398.986201 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 86 # Segment length 50.765818 meters # Minimum depth: 399.968089 meters looking forward 0.000000 meters along route # Maximum depth: 399.968089 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 359.968089 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.895560; longitude = -117.299078; captureRadius = 10; duration = 50; initialDepth = 354.694995; finalDepth = 359.968089; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:359.968089 # Seafloor depth:-399.968089 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 86 # Segment length 50.765818 meters # Minimum depth: 394.694995 meters looking forward 0.000000 meters along route # Maximum depth: 394.694995 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 354.694995 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.895646; longitude = -117.299635; captureRadius = 10; duration = 50; initialDepth = 356.377800; finalDepth = 354.694995; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:354.694995 # Seafloor depth:-394.694995 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 86 # Segment length 50.765818 meters # Minimum depth: 396.377800 meters looking forward 0.000000 meters along route # Maximum depth: 396.377800 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 356.377800 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.895734; longitude = -117.300200; captureRadius = 10; duration = 50; initialDepth = 359.886640; finalDepth = 356.377800; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:356.3778 # Seafloor depth:-396.377800 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 86 # Segment length 50.765818 meters # Minimum depth: 399.886640 meters looking forward 0.000000 meters along route # Maximum depth: 399.886640 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 359.886640 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.895833; longitude = -117.300841; captureRadius = 10; duration = 50; initialDepth = 361.800694; finalDepth = 359.886640; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:359.88664 # Seafloor depth:-399.886640 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 86 # Segment length 50.765818 meters # Minimum depth: 401.800694 meters looking forward 0.000000 meters along route # Maximum depth: 401.800694 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 361.800694 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.895917; longitude = -117.301384; captureRadius = 10; duration = 50; initialDepth = 363.004455; finalDepth = 361.800694; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:361.800694 # Seafloor depth:-401.800694 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 86 # Segment length 50.765818 meters # Minimum depth: 403.004455 meters looking forward 0.000000 meters along route # Maximum depth: 403.004455 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 363.004455 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.896006; longitude = -117.301962; captureRadius = 10; duration = 50; initialDepth = 363.451958; finalDepth = 363.004455; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:363.004455 # Seafloor depth:-403.004455 # 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 85 # Segment length 50.765818 meters # Minimum depth: 403.451958 meters looking forward 0.000000 meters along route # Maximum depth: 403.451958 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 363.451958 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.896097; longitude = -117.302550; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 363.257789; finalDepth = 363.451958; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:363.451958 # Seafloor depth:-403.451958 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 50.765818 meters # Minimum depth: 403.257789 meters looking forward 0.000000 meters along route # Maximum depth: 403.257789 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 363.257789 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.895994; longitude = -117.302764; captureRadius = 10; duration = 50; initialDepth = 361.525112; finalDepth = 363.257789; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:363.257789 # Seafloor depth:-403.257789 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 50.765818 meters # Minimum depth: 401.525112 meters looking forward 0.000000 meters along route # Maximum depth: 401.525112 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 361.525112 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.895762; longitude = -117.303244; captureRadius = 10; duration = 50; initialDepth = 361.812518; finalDepth = 361.525112; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:361.525112 # Seafloor depth:-401.525112 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 50.765818 meters # Minimum depth: 401.812518 meters looking forward 0.000000 meters along route # Maximum depth: 401.812518 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 361.812518 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.895530; longitude = -117.303725; captureRadius = 10; duration = 50; initialDepth = 366.920153; finalDepth = 361.812518; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:361.812518 # Seafloor depth:-401.812518 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 50.765818 meters # Minimum depth: 406.920153 meters looking forward 0.000000 meters along route # Maximum depth: 406.920153 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 366.920153 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.895298; longitude = -117.304206; captureRadius = 10; duration = 50; initialDepth = 368.839983; finalDepth = 366.920153; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:366.920153 # Seafloor depth:-406.920153 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 50.765818 meters # Minimum depth: 408.839983 meters looking forward 0.000000 meters along route # Maximum depth: 408.839983 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 368.839983 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.895066; longitude = -117.304686; captureRadius = 10; duration = 50; initialDepth = 373.430959; finalDepth = 368.839983; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:368.839983 # Seafloor depth:-408.839983 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 50.765818 meters # Minimum depth: 413.430959 meters looking forward 0.000000 meters along route # Maximum depth: 413.430959 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 373.430959 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.894834; longitude = -117.305167; captureRadius = 10; duration = 50; initialDepth = 377.618975; finalDepth = 373.430959; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:373.430959 # Seafloor depth:-413.430959 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 50.765818 meters # Minimum depth: 417.618975 meters looking forward 0.000000 meters along route # Maximum depth: 417.618975 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 377.618975 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.894602; longitude = -117.305648; captureRadius = 10; duration = 50; initialDepth = 379.204697; finalDepth = 377.618975; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:377.618975 # Seafloor depth:-417.618975 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 50.765818 meters # Minimum depth: 419.204697 meters looking forward 0.000000 meters along route # Maximum depth: 419.204697 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 379.204697 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.894370; longitude = -117.306128; captureRadius = 10; duration = 50; initialDepth = 380.939670; finalDepth = 379.204697; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:379.204697 # Seafloor depth:-419.204697 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 50.765818 meters # Minimum depth: 420.939670 meters looking forward 0.000000 meters along route # Maximum depth: 420.939670 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 380.939670 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.894138; longitude = -117.306609; captureRadius = 10; duration = 50; initialDepth = 382.578026; finalDepth = 380.939670; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:380.93967 # Seafloor depth:-420.939670 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 50.765818 meters # Minimum depth: 422.578026 meters looking forward 0.000000 meters along route # Maximum depth: 422.578026 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 382.578026 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.893887; longitude = -117.307130; captureRadius = 10; duration = 50; initialDepth = 385.478261; finalDepth = 382.578026; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:382.578026 # Seafloor depth:-422.578026 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 50.765818 meters # Minimum depth: 425.478261 meters looking forward 0.000000 meters along route # Maximum depth: 425.478261 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 385.478261 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.893616; longitude = -117.307691; captureRadius = 10; duration = 50; initialDepth = 388.372917; finalDepth = 385.478261; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:385.478261 # Seafloor depth:-425.478261 # 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 84 # Segment length 50.765818 meters # Minimum depth: 428.372917 meters looking forward 0.000000 meters along route # Maximum depth: 428.372917 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 388.372917 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.893391; longitude = -117.308158; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 389.992500; finalDepth = 388.372917; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:388.372917 # Seafloor depth:-428.372917 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 50.765818 meters # Minimum depth: 429.992500 meters looking forward 0.000000 meters along route # Maximum depth: 429.992500 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 389.992500 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.893210; longitude = -117.308372; captureRadius = 10; duration = 50; initialDepth = 391.365950; finalDepth = 389.992500; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:389.9925 # Seafloor depth:-429.992500 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 50.765818 meters # Minimum depth: 431.365950 meters looking forward 0.000000 meters along route # Maximum depth: 431.365950 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 391.365950 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.892805; longitude = -117.308852; captureRadius = 10; duration = 50; initialDepth = 393.095178; finalDepth = 391.365950; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:391.36595 # Seafloor depth:-431.365950 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 50.765818 meters # Minimum depth: 433.095178 meters looking forward 0.000000 meters along route # Maximum depth: 433.095178 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 393.095178 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.892399; longitude = -117.309333; captureRadius = 10; duration = 50; initialDepth = 395.622952; finalDepth = 393.095178; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:393.095178 # Seafloor depth:-433.095178 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 50.765818 meters # Minimum depth: 435.622952 meters looking forward 0.000000 meters along route # Maximum depth: 435.622952 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 395.622952 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.891993; longitude = -117.309814; captureRadius = 10; duration = 50; initialDepth = 395.762207; finalDepth = 395.622952; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:395.622952 # Seafloor depth:-435.622952 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 50.765818 meters # Minimum depth: 435.762207 meters looking forward 0.000000 meters along route # Maximum depth: 435.762207 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 395.762207 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.891587; longitude = -117.310295; captureRadius = 10; duration = 50; initialDepth = 398.026794; finalDepth = 395.762207; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:395.762207 # Seafloor depth:-435.762207 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 50.765818 meters # Minimum depth: 438.026794 meters looking forward 0.000000 meters along route # Maximum depth: 438.026794 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 398.026794 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.891181; longitude = -117.310775; captureRadius = 10; duration = 50; initialDepth = 401.876474; finalDepth = 398.026794; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:398.026794 # Seafloor depth:-438.026794 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 50.765818 meters # Minimum depth: 441.876474 meters looking forward 0.000000 meters along route # Maximum depth: 441.876474 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 401.876474 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.890775; longitude = -117.311256; captureRadius = 10; duration = 50; initialDepth = 403.050986; finalDepth = 401.876474; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:401.876474 # Seafloor depth:-441.876474 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 50.765818 meters # Minimum depth: 443.050986 meters looking forward 0.000000 meters along route # Maximum depth: 443.050986 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 403.050986 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.890369; longitude = -117.311737; captureRadius = 10; duration = 50; initialDepth = 404.562111; finalDepth = 403.050986; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:403.050986 # Seafloor depth:-443.050986 # 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 83 # Segment length 50.765818 meters # Minimum depth: 444.562111 meters looking forward 0.000000 meters along route # Maximum depth: 444.562111 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 404.562111 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.890008; longitude = -117.312164; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 407.397068; finalDepth = 404.562111; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:404.562111 # Seafloor depth:-444.562111 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 50.765818 meters # Minimum depth: 447.397068 meters looking forward 0.000000 meters along route # Maximum depth: 447.397068 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 407.397068 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.890121; longitude = -117.312538; captureRadius = 10; duration = 50; initialDepth = 409.035538; finalDepth = 407.397068; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:407.397068 # Seafloor depth:-447.397068 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 50.765818 meters # Minimum depth: 449.035538 meters looking forward 0.000000 meters along route # Maximum depth: 449.035538 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 409.035538 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.890315; longitude = -117.313179; captureRadius = 10; duration = 50; initialDepth = 402.552011; finalDepth = 409.035538; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:409.035538 # Seafloor depth:-449.035538 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 50.765818 meters # Minimum depth: 442.552011 meters looking forward 0.000000 meters along route # Maximum depth: 442.552011 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 402.552011 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.890509; longitude = -117.313820; captureRadius = 10; duration = 50; initialDepth = 398.017156; finalDepth = 402.552011; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:402.552011 # Seafloor depth:-442.552011 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 50.765818 meters # Minimum depth: 438.017156 meters looking forward 0.000000 meters along route # Maximum depth: 438.017156 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 398.017156 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.890703; longitude = -117.314461; captureRadius = 10; duration = 50; initialDepth = 406.419640; finalDepth = 398.017156; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:398.017156 # Seafloor depth:-438.017156 # 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 82 # Segment length 50.765818 meters # Minimum depth: 446.419640 meters looking forward 0.000000 meters along route # Maximum depth: 446.419640 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 406.419640 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.890865; longitude = -117.314995; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 410.001494; finalDepth = 406.419640; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:406.41964 # Seafloor depth:-446.419640 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 50.765818 meters # Minimum depth: 450.001494 meters looking forward 0.000000 meters along route # Maximum depth: 450.001494 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 410.001494 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.890950; longitude = -117.315102; captureRadius = 10; duration = 50; initialDepth = 416.359104; finalDepth = 410.001494; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:410.001494 # Seafloor depth:-450.001494 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 50.765818 meters # Minimum depth: 456.359104 meters looking forward 0.000000 meters along route # Maximum depth: 456.359104 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 416.359104 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.891334; longitude = -117.315582; captureRadius = 10; duration = 50; initialDepth = 417.330554; finalDepth = 416.359104; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:416.359104 # Seafloor depth:-456.359104 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 50.765818 meters # Minimum depth: 457.330554 meters looking forward 0.000000 meters along route # Maximum depth: 457.330554 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 417.330554 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.891722; longitude = -117.316068; captureRadius = 10; duration = 50; initialDepth = 411.724461; finalDepth = 417.330554; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:417.330554 # Seafloor depth:-457.330554 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 50.765818 meters # Minimum depth: 451.724461 meters looking forward 0.000000 meters along route # Maximum depth: 451.724461 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 411.724461 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.892128; longitude = -117.316576; captureRadius = 10; duration = 50; initialDepth = 396.287262; finalDepth = 411.724461; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:411.724461 # Seafloor depth:-451.724461 # 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 81 # Segment length 50.765818 meters # Minimum depth: 436.287262 meters looking forward 0.000000 meters along route # Maximum depth: 436.287262 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 396.287262 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.892444; longitude = -117.316971; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 392.405926; finalDepth = 396.287262; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:396.287262 # Seafloor depth:-436.287262 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 50.765818 meters # Minimum depth: 432.405926 meters looking forward 0.000000 meters along route # Maximum depth: 432.405926 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 392.405926 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.892805; longitude = -117.317243; captureRadius = 10; duration = 50; initialDepth = 394.919927; finalDepth = 392.405926; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:392.405926 # Seafloor depth:-432.405926 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 50.765818 meters # Minimum depth: 434.919927 meters looking forward 0.000000 meters along route # Maximum depth: 434.919927 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 394.919927 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.893210; longitude = -117.317549; captureRadius = 10; duration = 50; initialDepth = 396.661332; finalDepth = 394.919927; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:394.919927 # Seafloor depth:-434.919927 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 50.765818 meters # Minimum depth: 436.661332 meters looking forward 0.000000 meters along route # Maximum depth: 436.661332 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 396.661332 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.893616; longitude = -117.317855; captureRadius = 10; duration = 50; initialDepth = 398.391231; finalDepth = 396.661332; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:396.661332 # Seafloor depth:-436.661332 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 50.765818 meters # Minimum depth: 438.391231 meters looking forward 0.000000 meters along route # Maximum depth: 438.391231 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 398.391231 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.894022; longitude = -117.318160; captureRadius = 10; duration = 50; initialDepth = 406.820475; finalDepth = 398.391231; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:398.391231 # Seafloor depth:-438.391231 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 50.765818 meters # Minimum depth: 446.820475 meters looking forward 0.000000 meters along route # Maximum depth: 446.820475 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 406.820475 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.894428; longitude = -117.318466; captureRadius = 10; duration = 50; initialDepth = 409.176994; finalDepth = 406.820475; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:406.820475 # Seafloor depth:-446.820475 # 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 80 # Segment length 50.765818 meters # Minimum depth: 449.176994 meters looking forward 0.000000 meters along route # Maximum depth: 449.176994 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 409.176994 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.894924; longitude = -117.318840; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 412.318382; finalDepth = 409.176994; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:409.176994 # Seafloor depth:-449.176994 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 80 # Segment length 50.765818 meters # Minimum depth: 452.318382 meters looking forward 0.000000 meters along route # Maximum depth: 452.318382 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 412.318382 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.895240; longitude = -117.319027; captureRadius = 10; duration = 50; initialDepth = 415.925690; finalDepth = 412.318382; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:412.318382 # Seafloor depth:-452.318382 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 80 # Segment length 50.765818 meters # Minimum depth: 455.925690 meters looking forward 0.000000 meters along route # Maximum depth: 455.925690 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 415.925690 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.895646; longitude = -117.319268; captureRadius = 10; duration = 50; initialDepth = 421.584153; finalDepth = 415.925690; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:415.92569 # Seafloor depth:-455.925690 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 80 # Segment length 50.765818 meters # Minimum depth: 461.584153 meters looking forward 0.000000 meters along route # Maximum depth: 461.584153 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 421.584153 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.896052; longitude = -117.319508; captureRadius = 10; duration = 50; initialDepth = 426.650940; finalDepth = 421.584153; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:421.584153 # Seafloor depth:-461.584153 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 80 # Segment length 50.765818 meters # Minimum depth: 466.650940 meters looking forward 0.000000 meters along route # Maximum depth: 466.650940 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 426.650940 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.896458; longitude = -117.319748; captureRadius = 10; duration = 50; initialDepth = 430.354341; finalDepth = 426.650940; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:426.65094 # Seafloor depth:-466.650940 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 80 # Segment length 50.765818 meters # Minimum depth: 470.354341 meters looking forward 0.000000 meters along route # Maximum depth: 470.354341 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 430.354341 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.896864; longitude = -117.319989; captureRadius = 10; duration = 50; initialDepth = 439.801626; finalDepth = 430.354341; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:430.354341 # Seafloor depth:-470.354341 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 80 # Segment length 50.765818 meters # Minimum depth: 479.801626 meters looking forward 0.000000 meters along route # Maximum depth: 479.801626 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 439.801626 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.897270; longitude = -117.320229; captureRadius = 10; duration = 50; initialDepth = 447.901390; finalDepth = 439.801626; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:439.801626 # Seafloor depth:-479.801626 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 80 # Segment length 50.765818 meters # Minimum depth: 487.901390 meters looking forward 0.000000 meters along route # Maximum depth: 487.901390 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 447.901390 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.897676; longitude = -117.320469; captureRadius = 10; duration = 50; initialDepth = 453.029230; finalDepth = 447.901390; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:447.90139 # Seafloor depth:-487.901390 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 80 # Segment length 50.765818 meters # Minimum depth: 493.029230 meters looking forward 0.000000 meters along route # Maximum depth: 493.029230 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 453.029230 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.898082; longitude = -117.320710; captureRadius = 10; duration = 50; initialDepth = 456.701214; finalDepth = 453.029230; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:453.02923 # Seafloor depth:-493.029230 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 80 # Segment length 50.765818 meters # Minimum depth: 496.701214 meters looking forward 0.000000 meters along route # Maximum depth: 496.701214 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 456.701214 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.898488; longitude = -117.320950; captureRadius = 10; duration = 50; initialDepth = 458.437979; finalDepth = 456.701214; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:456.701214 # Seafloor depth:-496.701214 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 80 # Segment length 50.765818 meters # Minimum depth: 498.437979 meters looking forward 0.000000 meters along route # Maximum depth: 498.437979 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 458.437979 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.898894; longitude = -117.321191; captureRadius = 10; duration = 50; initialDepth = 459.247053; finalDepth = 458.437979; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:458.437979 # Seafloor depth:-498.437979 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 80 # Segment length 50.765818 meters # Minimum depth: 499.247053 meters looking forward 0.000000 meters along route # Maximum depth: 499.247053 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 459.247053 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.899299; longitude = -117.321431; captureRadius = 10; duration = 50; initialDepth = 459.891403; finalDepth = 459.247053; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:459.247053 # Seafloor depth:-499.247053 # 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 79 # Segment length 50.765818 meters # Minimum depth: 499.891403 meters looking forward 0.000000 meters along route # Maximum depth: 499.891403 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 459.891403 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.899796; longitude = -117.321725; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 459.800153; finalDepth = 459.891403; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:459.891403 # Seafloor depth:-499.891403 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 50.765818 meters # Minimum depth: 499.800153 meters looking forward 0.000000 meters along route # Maximum depth: 499.800153 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 459.800153 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.899841; longitude = -117.321798; captureRadius = 10; duration = 50; initialDepth = 458.676178; finalDepth = 459.800153; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:459.800153 # Seafloor depth:-499.800153 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 50.765818 meters # Minimum depth: 498.676178 meters looking forward 0.000000 meters along route # Maximum depth: 498.676178 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 458.676178 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.900111; longitude = -117.322243; captureRadius = 10; duration = 50; initialDepth = 458.850136; finalDepth = 458.676178; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:458.676178 # Seafloor depth:-498.676178 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 50.765818 meters # Minimum depth: 498.850136 meters looking forward 0.000000 meters along route # Maximum depth: 498.850136 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 458.850136 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.900382; longitude = -117.322687; captureRadius = 10; duration = 50; initialDepth = 455.662479; finalDepth = 458.850136; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:458.850136 # Seafloor depth:-498.850136 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 50.765818 meters # Minimum depth: 495.662479 meters looking forward 0.000000 meters along route # Maximum depth: 495.662479 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 455.662479 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.900653; longitude = -117.323132; captureRadius = 10; duration = 50; initialDepth = 454.079950; finalDepth = 455.662479; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:455.662479 # Seafloor depth:-495.662479 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 50.765818 meters # Minimum depth: 494.079950 meters looking forward 0.000000 meters along route # Maximum depth: 494.079950 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 454.079950 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.900923; longitude = -117.323576; captureRadius = 10; duration = 50; initialDepth = 456.876331; finalDepth = 454.079950; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:454.07995 # Seafloor depth:-494.079950 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 50.765818 meters # Minimum depth: 496.876331 meters looking forward 0.000000 meters along route # Maximum depth: 496.876331 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 456.876331 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.901194; longitude = -117.324020; captureRadius = 10; duration = 50; initialDepth = 460.141281; finalDepth = 456.876331; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:456.876331 # Seafloor depth:-496.876331 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 50.765818 meters # Minimum depth: 500.141281 meters looking forward 0.000000 meters along route # Maximum depth: 500.141281 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 460.141281 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.901464; longitude = -117.324465; captureRadius = 10; duration = 50; initialDepth = 463.224167; finalDepth = 460.141281; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:460.141281 # Seafloor depth:-500.141281 # 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 78 # Segment length 50.765818 meters # Minimum depth: 503.224167 meters looking forward 0.000000 meters along route # Maximum depth: 503.224167 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 463.224167 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.901780; longitude = -117.324983; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 466.959005; finalDepth = 463.224167; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:463.224167 # Seafloor depth:-503.224167 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 50.765818 meters # Minimum depth: 506.959005 meters looking forward 0.000000 meters along route # Maximum depth: 506.959005 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 466.959005 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.901936; longitude = -117.325517; captureRadius = 10; duration = 50; initialDepth = 471.063369; finalDepth = 466.959005; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:466.959005 # Seafloor depth:-506.959005 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 50.765818 meters # Minimum depth: 511.063369 meters looking forward 0.000000 meters along route # Maximum depth: 511.063369 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 471.063369 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.902124; longitude = -117.326158; captureRadius = 10; duration = 50; initialDepth = 473.849191; finalDepth = 471.063369; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:471.063369 # Seafloor depth:-511.063369 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 50.765818 meters # Minimum depth: 513.849191 meters looking forward 0.000000 meters along route # Maximum depth: 513.849191 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 473.849191 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.902276; longitude = -117.326676; captureRadius = 10; duration = 50; initialDepth = 476.265501; finalDepth = 473.849191; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:473.849191 # Seafloor depth:-513.849191 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 50.765818 meters # Minimum depth: 516.265501 meters looking forward 0.000000 meters along route # Maximum depth: 516.265501 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 476.265501 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.902453; longitude = -117.327279; captureRadius = 10; duration = 50; initialDepth = 476.483009; finalDepth = 476.265501; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:476.265501 # Seafloor depth:-516.265501 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 50.765818 meters # Minimum depth: 516.483009 meters looking forward 0.000000 meters along route # Maximum depth: 516.483009 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 476.483009 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.902641; longitude = -117.327920; captureRadius = 10; duration = 50; initialDepth = 482.016390; finalDepth = 476.483009; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:476.483009 # Seafloor depth:-516.483009 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 50.765818 meters # Minimum depth: 522.016390 meters looking forward 0.000000 meters along route # Maximum depth: 522.016390 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 482.016390 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.902818; longitude = -117.328523; captureRadius = 10; duration = 50; initialDepth = 484.354304; finalDepth = 482.016390; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:482.01639 # Seafloor depth:-522.016390 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 50.765818 meters # Minimum depth: 524.354304 meters looking forward 0.000000 meters along route # Maximum depth: 524.354304 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 484.354304 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.902970; longitude = -117.329042; captureRadius = 10; duration = 50; initialDepth = 484.742637; finalDepth = 484.354304; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:484.354304 # Seafloor depth:-524.354304 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 50.765818 meters # Minimum depth: 524.742637 meters looking forward 0.000000 meters along route # Maximum depth: 524.742637 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 484.742637 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.903157; longitude = -117.329683; captureRadius = 10; duration = 50; initialDepth = 486.709000; finalDepth = 484.742637; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:484.742637 # Seafloor depth:-524.742637 # 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 77 # Segment length 50.765818 meters # Minimum depth: 526.709000 meters looking forward 0.000000 meters along route # Maximum depth: 526.709000 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 486.709000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.903314; longitude = -117.330217; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 485.590223; finalDepth = 486.709000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:486.709 # Seafloor depth:-526.709000 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 77 # Segment length 50.765818 meters # Minimum depth: 525.590223 meters looking forward 0.000000 meters along route # Maximum depth: 525.590223 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 485.590223 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.903301; longitude = -117.330324; captureRadius = 10; duration = 50; initialDepth = 488.072002; finalDepth = 485.590223; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:485.590223 # Seafloor depth:-525.590223 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 77 # Segment length 50.765818 meters # Minimum depth: 528.072002 meters looking forward 0.000000 meters along route # Maximum depth: 528.072002 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 488.072002 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.903224; longitude = -117.330966; captureRadius = 10; duration = 50; initialDepth = 488.227202; finalDepth = 488.072002; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:488.072002 # Seafloor depth:-528.072002 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 77 # Segment length 50.765818 meters # Minimum depth: 528.227202 meters looking forward 0.000000 meters along route # Maximum depth: 528.227202 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 488.227202 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.903146; longitude = -117.331606; captureRadius = 10; duration = 50; initialDepth = 488.208539; finalDepth = 488.227202; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:488.227202 # Seafloor depth:-528.227202 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 77 # Segment length 50.765818 meters # Minimum depth: 528.208539 meters looking forward 0.000000 meters along route # Maximum depth: 528.208539 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 488.208539 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.903069; longitude = -117.332247; captureRadius = 10; duration = 50; initialDepth = 492.043626; finalDepth = 488.208539; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:488.208539 # Seafloor depth:-528.208539 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 77 # Segment length 50.765818 meters # Minimum depth: 532.043626 meters looking forward 0.000000 meters along route # Maximum depth: 532.043626 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 492.043626 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.902991; longitude = -117.332887; captureRadius = 10; duration = 50; initialDepth = 482.333513; finalDepth = 492.043626; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:492.043626 # Seafloor depth:-532.043626 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 77 # Segment length 50.765818 meters # Minimum depth: 522.333513 meters looking forward 0.000000 meters along route # Maximum depth: 522.333513 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 482.333513 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.902914; longitude = -117.333528; captureRadius = 10; duration = 50; initialDepth = 475.488052; finalDepth = 482.333513; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:482.333513 # Seafloor depth:-522.333513 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 77 # Segment length 50.765818 meters # Minimum depth: 515.488052 meters looking forward 0.000000 meters along route # Maximum depth: 515.488052 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 475.488052 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.902836; longitude = -117.334169; captureRadius = 10; duration = 50; initialDepth = 478.313858; finalDepth = 475.488052; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:475.488052 # Seafloor depth:-515.488052 # 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 76 # Segment length 50.765818 meters # Minimum depth: 518.313858 meters looking forward 0.000000 meters along route # Maximum depth: 518.313858 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 478.313858 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.902772; longitude = -117.334703; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 480.451640; finalDepth = 478.313858; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:478.313858 # Seafloor depth:-518.313858 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 76 # Segment length 50.765818 meters # Minimum depth: 520.451640 meters looking forward 0.000000 meters along route # Maximum depth: 520.451640 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 480.451640 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.902849; longitude = -117.335131; captureRadius = 10; duration = 50; initialDepth = 488.871957; finalDepth = 480.451640; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:480.45164 # Seafloor depth:-520.451640 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 76 # Segment length 50.765818 meters # Minimum depth: 528.871957 meters looking forward 0.000000 meters along route # Maximum depth: 528.871957 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 488.871957 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.902965; longitude = -117.335772; captureRadius = 10; duration = 50; initialDepth = 483.977236; finalDepth = 488.871957; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:488.871957 # Seafloor depth:-528.871957 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 76 # Segment length 50.765818 meters # Minimum depth: 523.977236 meters looking forward 0.000000 meters along route # Maximum depth: 523.977236 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 483.977236 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.903081; longitude = -117.336413; captureRadius = 10; duration = 50; initialDepth = 486.149567; finalDepth = 483.977236; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:483.977236 # Seafloor depth:-523.977236 # 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 75 # Segment length 50.765818 meters # Minimum depth: 526.149567 meters looking forward 0.000000 meters along route # Maximum depth: 526.149567 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 486.149567 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.903178; longitude = -117.336947; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 488.253819; finalDepth = 486.149567; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:486.149567 # Seafloor depth:-526.149567 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 50.765818 meters # Minimum depth: 528.253819 meters looking forward 0.000000 meters along route # Maximum depth: 528.253819 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 488.253819 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.903413; longitude = -117.337374; captureRadius = 10; duration = 50; initialDepth = 488.999182; finalDepth = 488.253819; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:488.253819 # Seafloor depth:-528.253819 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 50.765818 meters # Minimum depth: 528.999182 meters looking forward 0.000000 meters along route # Maximum depth: 528.999182 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 488.999182 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.903677; longitude = -117.337855; captureRadius = 10; duration = 50; initialDepth = 490.259595; finalDepth = 488.999182; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:488.999182 # Seafloor depth:-528.999182 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 50.765818 meters # Minimum depth: 530.259595 meters looking forward 0.000000 meters along route # Maximum depth: 530.259595 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 490.259595 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.903942; longitude = -117.338335; captureRadius = 10; duration = 50; initialDepth = 495.006335; finalDepth = 490.259595; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:490.259595 # Seafloor depth:-530.259595 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 50.765818 meters # Minimum depth: 535.006335 meters looking forward 0.000000 meters along route # Maximum depth: 535.006335 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 495.006335 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.904206; longitude = -117.338816; captureRadius = 10; duration = 50; initialDepth = 499.087610; finalDepth = 495.006335; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:495.006335 # Seafloor depth:-535.006335 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 50.765818 meters # Minimum depth: 539.087610 meters looking forward 0.000000 meters along route # Maximum depth: 539.087610 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 499.087610 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.904471; longitude = -117.339297; captureRadius = 10; duration = 50; initialDepth = 500.409073; finalDepth = 499.087610; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:499.08761 # Seafloor depth:-539.087610 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 50.765818 meters # Minimum depth: 540.409073 meters looking forward 0.000000 meters along route # Maximum depth: 540.409073 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 500.409073 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.904735; longitude = -117.339778; captureRadius = 10; duration = 50; initialDepth = 503.850431; finalDepth = 500.409073; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:500.409073 # Seafloor depth:-540.409073 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 50.765818 meters # Minimum depth: 543.850431 meters looking forward 0.000000 meters along route # Maximum depth: 543.850431 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 503.850431 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.905000; longitude = -117.340258; captureRadius = 10; duration = 50; initialDepth = 506.814622; finalDepth = 503.850431; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:503.850431 # Seafloor depth:-543.850431 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 50.765818 meters # Minimum depth: 546.814622 meters looking forward 0.000000 meters along route # Maximum depth: 546.814622 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 506.814622 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.905264; longitude = -117.340739; captureRadius = 10; duration = 50; initialDepth = 507.312485; finalDepth = 506.814622; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:506.814622 # Seafloor depth:-546.814622 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 50.765818 meters # Minimum depth: 547.312485 meters looking forward 0.000000 meters along route # Maximum depth: 547.312485 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 507.312485 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.905529; longitude = -117.341220; captureRadius = 10; duration = 50; initialDepth = 508.505815; finalDepth = 507.312485; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:507.312485 # Seafloor depth:-547.312485 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 50.765818 meters # Minimum depth: 548.505815 meters looking forward 0.000000 meters along route # Maximum depth: 548.505815 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 508.505815 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.905794; longitude = -117.341703; captureRadius = 10; duration = 50; initialDepth = 508.058893; finalDepth = 508.505815; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:508.505815 # Seafloor depth:-548.505815 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 50.765818 meters # Minimum depth: 548.058893 meters looking forward 0.000000 meters along route # Maximum depth: 548.058893 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 508.058893 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.906065; longitude = -117.342195; captureRadius = 10; duration = 50; initialDepth = 504.806091; finalDepth = 508.058893; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:508.058893 # Seafloor depth:-548.058893 # 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 74 # Segment length 50.765818 meters # Minimum depth: 544.806091 meters looking forward 0.000000 meters along route # Maximum depth: 544.806091 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 504.806091 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.906381; longitude = -117.342769; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 503.515507; finalDepth = 504.806091; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:504.806091 # Seafloor depth:-544.806091 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 74 # Segment length 50.765818 meters # Minimum depth: 543.515507 meters looking forward 0.000000 meters along route # Maximum depth: 543.515507 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 503.515507 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.906542; longitude = -117.342982; captureRadius = 10; duration = 50; initialDepth = 499.685731; finalDepth = 503.515507; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:503.515507 # Seafloor depth:-543.515507 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 74 # Segment length 50.765818 meters # Minimum depth: 539.685731 meters looking forward 0.000000 meters along route # Maximum depth: 539.685731 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 499.685731 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.906907; longitude = -117.343463; captureRadius = 10; duration = 50; initialDepth = 504.103256; finalDepth = 499.685731; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:499.685731 # Seafloor depth:-539.685731 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 74 # Segment length 50.765818 meters # Minimum depth: 544.103256 meters looking forward 0.000000 meters along route # Maximum depth: 544.103256 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 504.103256 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.907283; longitude = -117.343960; captureRadius = 10; duration = 50; initialDepth = 508.739135; finalDepth = 504.103256; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:504.103256 # Seafloor depth:-544.103256 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 74 # Segment length 50.765818 meters # Minimum depth: 548.739135 meters looking forward 0.000000 meters along route # Maximum depth: 548.739135 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 508.739135 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.907689; longitude = -117.344496; captureRadius = 10; duration = 50; initialDepth = 510.395213; finalDepth = 508.739135; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:508.739135 # Seafloor depth:-548.739135 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 74 # Segment length 50.765818 meters # Minimum depth: 550.395213 meters looking forward 0.000000 meters along route # Maximum depth: 550.395213 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 510.395213 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.907999; longitude = -117.344905; captureRadius = 10; duration = 50; initialDepth = 511.149239; finalDepth = 510.395213; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:510.395213 # Seafloor depth:-550.395213 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 74 # Segment length 50.765818 meters # Minimum depth: 551.149239 meters looking forward 0.000000 meters along route # Maximum depth: 551.149239 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 511.149239 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.908365; longitude = -117.345389; captureRadius = 10; duration = 50; initialDepth = 512.333730; finalDepth = 511.149239; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:511.149239 # Seafloor depth:-551.149239 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 74 # Segment length 50.765818 meters # Minimum depth: 552.333730 meters looking forward 0.000000 meters along route # Maximum depth: 552.333730 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 512.333730 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.908771; longitude = -117.345925; captureRadius = 10; duration = 50; initialDepth = 514.125336; finalDepth = 512.333730; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:512.33373 # Seafloor depth:-552.333730 # 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 73 # Segment length 50.765818 meters # Minimum depth: 554.125336 meters looking forward 0.000000 meters along route # Maximum depth: 554.125336 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 514.125336 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.909132; longitude = -117.346401; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 514.262933; finalDepth = 514.125336; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:514.125336 # Seafloor depth:-554.125336 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 50.765818 meters # Minimum depth: 554.262933 meters looking forward 0.000000 meters along route # Maximum depth: 554.262933 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 514.262933 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.909211; longitude = -117.346668; captureRadius = 10; duration = 50; initialDepth = 520.333956; finalDepth = 514.262933; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:514.262933 # Seafloor depth:-554.262933 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 50.765818 meters # Minimum depth: 560.333956 meters looking forward 0.000000 meters along route # Maximum depth: 560.333956 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 520.333956 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.909400; longitude = -117.347308; captureRadius = 10; duration = 50; initialDepth = 520.701293; finalDepth = 520.333956; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:520.333956 # Seafloor depth:-560.333956 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 50.765818 meters # Minimum depth: 560.701293 meters looking forward 0.000000 meters along route # Maximum depth: 560.701293 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 520.701293 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.909590; longitude = -117.347949; captureRadius = 10; duration = 50; initialDepth = 525.240177; finalDepth = 520.701293; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:520.701293 # Seafloor depth:-560.701293 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 50.765818 meters # Minimum depth: 565.240177 meters looking forward 0.000000 meters along route # Maximum depth: 565.240177 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 525.240177 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.909779; longitude = -117.348590; captureRadius = 10; duration = 50; initialDepth = 527.856734; finalDepth = 525.240177; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:525.240177 # Seafloor depth:-565.240177 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 50.765818 meters # Minimum depth: 567.856734 meters looking forward 0.000000 meters along route # Maximum depth: 567.856734 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 527.856734 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.909968; longitude = -117.349231; captureRadius = 10; duration = 50; initialDepth = 529.313800; finalDepth = 527.856734; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:527.856734 # Seafloor depth:-567.856734 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 50.765818 meters # Minimum depth: 569.313800 meters looking forward 0.000000 meters along route # Maximum depth: 569.313800 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 529.313800 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.910124; longitude = -117.349759; captureRadius = 10; duration = 50; initialDepth = 534.988845; finalDepth = 529.313800; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:529.3138 # Seafloor depth:-569.313800 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 50.765818 meters # Minimum depth: 574.988845 meters looking forward 0.000000 meters along route # Maximum depth: 574.988845 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 534.988845 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.910300; longitude = -117.350353; captureRadius = 10; duration = 50; initialDepth = 538.037892; finalDepth = 534.988845; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:534.988845 # Seafloor depth:-574.988845 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 50.765818 meters # Minimum depth: 578.037892 meters looking forward 0.000000 meters along route # Maximum depth: 578.037892 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 538.037892 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.910489; longitude = -117.350994; captureRadius = 10; duration = 50; initialDepth = 535.987841; finalDepth = 538.037892; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:538.037892 # Seafloor depth:-578.037892 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 50.765818 meters # Minimum depth: 575.987841 meters looking forward 0.000000 meters along route # Maximum depth: 575.987841 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 535.987841 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.910679; longitude = -117.351635; captureRadius = 10; duration = 50; initialDepth = 534.455528; finalDepth = 535.987841; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:535.987841 # Seafloor depth:-575.987841 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 50.765818 meters # Minimum depth: 574.455528 meters looking forward 0.000000 meters along route # Maximum depth: 574.455528 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 534.455528 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.910868; longitude = -117.352276; captureRadius = 10; duration = 50; initialDepth = 534.859283; finalDepth = 534.455528; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:534.455528 # Seafloor depth:-574.455528 # 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 72 # Segment length 50.765818 meters # Minimum depth: 574.859283 meters looking forward 0.000000 meters along route # Maximum depth: 574.859283 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 534.859283 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911026; longitude = -117.352810; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 535.268133; finalDepth = 534.859283; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:534.859283 # Seafloor depth:-574.859283 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 72 # Segment length 50.765818 meters # Minimum depth: 575.268133 meters looking forward 0.000000 meters along route # Maximum depth: 575.268133 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 535.268133 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911044; longitude = -117.352917; captureRadius = 10; duration = 50; initialDepth = 536.256455; finalDepth = 535.268133; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:535.268133 # Seafloor depth:-575.268133 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 72 # Segment length 50.765818 meters # Minimum depth: 576.256455 meters looking forward 0.000000 meters along route # Maximum depth: 576.256455 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 536.256455 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911156; longitude = -117.353558; captureRadius = 10; duration = 50; initialDepth = 525.447712; finalDepth = 536.256455; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:536.256455 # Seafloor depth:-576.256455 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 72 # Segment length 50.765818 meters # Minimum depth: 565.447712 meters looking forward 0.000000 meters along route # Maximum depth: 565.447712 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 525.447712 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911267; longitude = -117.354199; captureRadius = 10; duration = 50; initialDepth = 521.991714; finalDepth = 525.447712; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:525.447712 # Seafloor depth:-565.447712 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 72 # Segment length 50.765818 meters # Minimum depth: 561.991714 meters looking forward 0.000000 meters along route # Maximum depth: 561.991714 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 521.991714 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911378; longitude = -117.354839; captureRadius = 10; duration = 50; initialDepth = 524.898080; finalDepth = 521.991714; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:521.991714 # Seafloor depth:-561.991714 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 72 # Segment length 50.765818 meters # Minimum depth: 564.898080 meters looking forward 0.000000 meters along route # Maximum depth: 564.898080 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 524.898080 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911477; longitude = -117.355415; captureRadius = 10; duration = 50; initialDepth = 528.310354; finalDepth = 524.898080; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:524.89808 # Seafloor depth:-564.898080 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 72 # Segment length 50.765818 meters # Minimum depth: 568.310354 meters looking forward 0.000000 meters along route # Maximum depth: 568.310354 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 528.310354 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911572; longitude = -117.355961; captureRadius = 10; duration = 50; initialDepth = 530.039510; finalDepth = 528.310354; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:528.310354 # Seafloor depth:-568.310354 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 72 # Segment length 50.765818 meters # Minimum depth: 570.039510 meters looking forward 0.000000 meters along route # Maximum depth: 570.039510 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 530.039510 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911683; longitude = -117.356602; captureRadius = 10; duration = 50; initialDepth = 531.712464; finalDepth = 530.039510; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:530.03951 # Seafloor depth:-570.039510 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 72 # Segment length 50.765818 meters # Minimum depth: 571.712464 meters looking forward 0.000000 meters along route # Maximum depth: 571.712464 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 531.712464 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911794; longitude = -117.357243; captureRadius = 10; duration = 50; initialDepth = 532.576123; finalDepth = 531.712464; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:531.712464 # Seafloor depth:-571.712464 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 72 # Segment length 50.765818 meters # Minimum depth: 572.576123 meters looking forward 0.000000 meters along route # Maximum depth: 572.576123 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 532.576123 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911905; longitude = -117.357884; captureRadius = 10; duration = 50; initialDepth = 534.809841; finalDepth = 532.576123; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:532.576123 # Seafloor depth:-572.576123 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 72 # Segment length 50.765818 meters # Minimum depth: 574.809841 meters looking forward 0.000000 meters along route # Maximum depth: 574.809841 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 534.809841 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912016; longitude = -117.358525; captureRadius = 10; duration = 50; initialDepth = 536.567825; finalDepth = 534.809841; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:534.809841 # Seafloor depth:-574.809841 # 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 71 # Segment length 50.765818 meters # Minimum depth: 576.567825 meters looking forward 0.000000 meters along route # Maximum depth: 576.567825 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 536.567825 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912109; longitude = -117.359059; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 536.728743; finalDepth = 536.567825; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:536.567825 # Seafloor depth:-576.567825 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 50.765818 meters # Minimum depth: 576.728743 meters looking forward 0.000000 meters along route # Maximum depth: 576.728743 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 536.728743 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912154; longitude = -117.359236; captureRadius = 10; duration = 50; initialDepth = 536.866465; finalDepth = 536.728743; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:536.728743 # Seafloor depth:-576.728743 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 50.765818 meters # Minimum depth: 576.866465 meters looking forward 0.000000 meters along route # Maximum depth: 576.866465 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 536.866465 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912289; longitude = -117.359766; captureRadius = 10; duration = 50; initialDepth = 539.549294; finalDepth = 536.866465; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:536.866465 # Seafloor depth:-576.866465 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 50.765818 meters # Minimum depth: 579.549294 meters looking forward 0.000000 meters along route # Maximum depth: 579.549294 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 539.549294 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912425; longitude = -117.360297; captureRadius = 10; duration = 50; initialDepth = 543.029327; finalDepth = 539.549294; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:539.549294 # Seafloor depth:-579.549294 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 50.765818 meters # Minimum depth: 583.029327 meters looking forward 0.000000 meters along route # Maximum depth: 583.029327 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 543.029327 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912560; longitude = -117.360828; captureRadius = 10; duration = 50; initialDepth = 548.708862; finalDepth = 543.029327; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:543.029327 # Seafloor depth:-583.029327 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 50.765818 meters # Minimum depth: 588.708862 meters looking forward 0.000000 meters along route # Maximum depth: 588.708862 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 548.708862 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912695; longitude = -117.361359; captureRadius = 10; duration = 50; initialDepth = 554.201316; finalDepth = 548.708862; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:548.708862 # Seafloor depth:-588.708862 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 50.765818 meters # Minimum depth: 594.201316 meters looking forward 0.000000 meters along route # Maximum depth: 594.201316 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 554.201316 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912831; longitude = -117.361890; captureRadius = 10; duration = 50; initialDepth = 559.045018; finalDepth = 554.201316; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:554.201316 # Seafloor depth:-594.201316 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 50.765818 meters # Minimum depth: 599.045018 meters looking forward 0.000000 meters along route # Maximum depth: 599.045018 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 559.045018 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912966; longitude = -117.362420; captureRadius = 10; duration = 50; initialDepth = 559.510579; finalDepth = 559.045018; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:559.045018 # Seafloor depth:-599.045018 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 50.765818 meters # Minimum depth: 599.510579 meters looking forward 0.000000 meters along route # Maximum depth: 599.510579 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 559.510579 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913101; longitude = -117.362951; captureRadius = 10; duration = 50; initialDepth = 559.646510; finalDepth = 559.510579; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:559.510579 # Seafloor depth:-599.510579 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 50.765818 meters # Minimum depth: 599.646510 meters looking forward 0.000000 meters along route # Maximum depth: 599.646510 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 559.646510 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913239; longitude = -117.363492; captureRadius = 10; duration = 50; initialDepth = 558.234714; finalDepth = 559.646510; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:559.64651 # Seafloor depth:-599.646510 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 50.765818 meters # Minimum depth: 598.234714 meters looking forward 0.000000 meters along route # Maximum depth: 598.234714 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 558.234714 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913372; longitude = -117.364012; captureRadius = 10; duration = 50; initialDepth = 558.306685; finalDepth = 558.234714; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:558.234714 # Seafloor depth:-598.234714 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 50.765818 meters # Minimum depth: 598.306685 meters looking forward 0.000000 meters along route # Maximum depth: 598.306685 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 558.306685 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913507; longitude = -117.364543; captureRadius = 10; duration = 50; initialDepth = 558.840351; finalDepth = 558.306685; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:558.306685 # Seafloor depth:-598.306685 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 50.765818 meters # Minimum depth: 598.840351 meters looking forward 0.000000 meters along route # Maximum depth: 598.840351 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 558.840351 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913648; longitude = -117.365094; captureRadius = 10; duration = 50; initialDepth = 560.337508; finalDepth = 558.840351; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:558.840351 # Seafloor depth:-598.840351 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 50.765818 meters # Minimum depth: 600.337508 meters looking forward 0.000000 meters along route # Maximum depth: 600.337508 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 560.337508 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913811; longitude = -117.365735; captureRadius = 10; duration = 50; initialDepth = 560.831118; finalDepth = 560.337508; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:560.337508 # Seafloor depth:-600.337508 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 50.765818 meters # Minimum depth: 600.831118 meters looking forward 0.000000 meters along route # Maximum depth: 600.831118 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 560.831118 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913975; longitude = -117.366376; captureRadius = 10; duration = 50; initialDepth = 560.925963; finalDepth = 560.831118; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:560.831118 # Seafloor depth:-600.831118 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 50.765818 meters # Minimum depth: 600.925963 meters looking forward 0.000000 meters along route # Maximum depth: 600.925963 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 560.925963 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914138; longitude = -117.367017; captureRadius = 10; duration = 50; initialDepth = 561.442978; finalDepth = 560.925963; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:560.925963 # Seafloor depth:-600.925963 # 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 70 # Segment length 50.765818 meters # Minimum depth: 601.442978 meters looking forward 0.000000 meters along route # Maximum depth: 601.442978 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 561.442978 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914274; longitude = -117.367551; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 557.970183; finalDepth = 561.442978; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:561.442978 # Seafloor depth:-601.442978 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 70 # Segment length 50.765818 meters # Minimum depth: 597.970183 meters looking forward 0.000000 meters along route # Maximum depth: 597.970183 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 557.970183 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914364; longitude = -117.368139; captureRadius = 10; duration = 50; initialDepth = 558.684841; finalDepth = 557.970183; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:557.970183 # Seafloor depth:-597.970183 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 70 # Segment length 50.765818 meters # Minimum depth: 598.684841 meters looking forward 0.000000 meters along route # Maximum depth: 598.684841 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 558.684841 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914454; longitude = -117.368725; captureRadius = 10; duration = 50; initialDepth = 558.911172; finalDepth = 558.684841; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:558.684841 # Seafloor depth:-598.684841 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 70 # Segment length 50.765818 meters # Minimum depth: 598.911172 meters looking forward 0.000000 meters along route # Maximum depth: 598.911172 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 558.911172 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914537; longitude = -117.369261; captureRadius = 10; duration = 50; initialDepth = 557.786151; finalDepth = 558.911172; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:558.911172 # Seafloor depth:-598.911172 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 70 # Segment length 50.765818 meters # Minimum depth: 597.786151 meters looking forward 0.000000 meters along route # Maximum depth: 597.786151 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 557.786151 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914635; longitude = -117.369901; captureRadius = 10; duration = 50; initialDepth = 554.813188; finalDepth = 557.786151; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:557.786151 # Seafloor depth:-597.786151 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 70 # Segment length 50.765818 meters # Minimum depth: 594.813188 meters looking forward 0.000000 meters along route # Maximum depth: 594.813188 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 554.813188 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914725; longitude = -117.370488; captureRadius = 10; duration = 50; initialDepth = 552.632431; finalDepth = 554.813188; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:554.813188 # Seafloor depth:-594.813188 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 70 # Segment length 50.765818 meters # Minimum depth: 592.632431 meters looking forward 0.000000 meters along route # Maximum depth: 592.632431 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 552.632431 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914807; longitude = -117.371023; captureRadius = 10; duration = 50; initialDepth = 552.864430; finalDepth = 552.632431; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:552.632431 # Seafloor depth:-592.632431 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 70 # Segment length 50.765818 meters # Minimum depth: 592.864430 meters looking forward 0.000000 meters along route # Maximum depth: 592.864430 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 552.864430 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914906; longitude = -117.371664; captureRadius = 10; duration = 50; initialDepth = 553.733403; finalDepth = 552.864430; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:552.86443 # Seafloor depth:-592.864430 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 70 # Segment length 50.765818 meters # Minimum depth: 593.733403 meters looking forward 0.000000 meters along route # Maximum depth: 593.733403 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 553.733403 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914996; longitude = -117.372250; captureRadius = 10; duration = 50; initialDepth = 556.079774; finalDepth = 553.733403; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:553.733403 # Seafloor depth:-593.733403 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 70 # Segment length 50.765818 meters # Minimum depth: 596.079774 meters looking forward 0.000000 meters along route # Maximum depth: 596.079774 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 556.079774 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915078; longitude = -117.372786; captureRadius = 10; duration = 50; initialDepth = 563.274438; finalDepth = 556.079774; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:556.079774 # Seafloor depth:-596.079774 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 70 # Segment length 50.765818 meters # Minimum depth: 603.274438 meters looking forward 0.000000 meters along route # Maximum depth: 603.274438 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 563.274438 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915176; longitude = -117.373427; captureRadius = 10; duration = 50; initialDepth = 556.394987; finalDepth = 563.274438; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:563.274438 # Seafloor depth:-603.274438 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 70 # Segment length 50.765818 meters # Minimum depth: 596.394987 meters looking forward 0.000000 meters along route # Maximum depth: 596.394987 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 556.394987 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915266; longitude = -117.374013; captureRadius = 10; duration = 50; initialDepth = 558.625081; finalDepth = 556.394987; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:556.394987 # Seafloor depth:-596.394987 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 70 # Segment length 50.765818 meters # Minimum depth: 598.625081 meters looking forward 0.000000 meters along route # Maximum depth: 598.625081 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 558.625081 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915348; longitude = -117.374548; captureRadius = 10; duration = 50; initialDepth = 560.783448; finalDepth = 558.625081; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:558.625081 # Seafloor depth:-598.625081 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 70 # Segment length 50.765818 meters # Minimum depth: 600.783448 meters looking forward 0.000000 meters along route # Maximum depth: 600.783448 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 560.783448 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915447; longitude = -117.375189; captureRadius = 10; duration = 50; initialDepth = 561.985108; finalDepth = 560.783448; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:560.783448 # Seafloor depth:-600.783448 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 70 # Segment length 50.765818 meters # Minimum depth: 601.985108 meters looking forward 0.000000 meters along route # Maximum depth: 601.985108 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 561.985108 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915537; longitude = -117.375775; captureRadius = 10; duration = 50; initialDepth = 564.059044; finalDepth = 561.985108; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:561.985108 # Seafloor depth:-601.985108 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 70 # Segment length 50.765818 meters # Minimum depth: 604.059044 meters looking forward 0.000000 meters along route # Maximum depth: 604.059044 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 564.059044 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915619; longitude = -117.376311; captureRadius = 10; duration = 50; initialDepth = 565.989921; finalDepth = 564.059044; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:564.059044 # Seafloor depth:-604.059044 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 70 # Segment length 50.765818 meters # Minimum depth: 605.989921 meters looking forward 0.000000 meters along route # Maximum depth: 605.989921 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 565.989921 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915718; longitude = -117.376952; captureRadius = 10; duration = 50; initialDepth = 569.402812; finalDepth = 565.989921; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:565.989921 # Seafloor depth:-605.989921 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 70 # Segment length 50.765818 meters # Minimum depth: 609.402812 meters looking forward 0.000000 meters along route # Maximum depth: 609.402812 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 569.402812 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915816; longitude = -117.377593; captureRadius = 10; duration = 50; initialDepth = 571.465240; finalDepth = 569.402812; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:569.402812 # Seafloor depth:-609.402812 # 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 69 # Segment length 50.765818 meters # Minimum depth: 611.465240 meters looking forward 0.000000 meters along route # Maximum depth: 611.465240 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 571.465240 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915898; longitude = -117.378127; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 569.812860; finalDepth = 571.465240; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:571.46524 # Seafloor depth:-611.465240 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 50.765818 meters # Minimum depth: 609.812860 meters looking forward 0.000000 meters along route # Maximum depth: 609.812860 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 569.812860 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915926; longitude = -117.378554; captureRadius = 10; duration = 50; initialDepth = 575.789341; finalDepth = 569.812860; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:569.81286 # Seafloor depth:-609.812860 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 50.765818 meters # Minimum depth: 615.789341 meters looking forward 0.000000 meters along route # Maximum depth: 615.789341 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 575.789341 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915968; longitude = -117.379195; captureRadius = 10; duration = 50; initialDepth = 577.273583; finalDepth = 575.789341; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:575.789341 # Seafloor depth:-615.789341 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 50.765818 meters # Minimum depth: 617.273583 meters looking forward 0.000000 meters along route # Maximum depth: 617.273583 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 577.273583 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.916010; longitude = -117.379836; captureRadius = 10; duration = 50; initialDepth = 576.802403; finalDepth = 577.273583; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:577.273583 # Seafloor depth:-617.273583 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 50.765818 meters # Minimum depth: 616.802403 meters looking forward 0.000000 meters along route # Maximum depth: 616.802403 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 576.802403 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.916052; longitude = -117.380477; captureRadius = 10; duration = 50; initialDepth = 578.843879; finalDepth = 576.802403; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:576.802403 # Seafloor depth:-616.802403 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 50.765818 meters # Minimum depth: 618.843879 meters looking forward 0.000000 meters along route # Maximum depth: 618.843879 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 578.843879 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.916094; longitude = -117.381118; captureRadius = 10; duration = 50; initialDepth = 583.095086; finalDepth = 578.843879; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:578.843879 # Seafloor depth:-618.843879 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 50.765818 meters # Minimum depth: 623.095086 meters looking forward 0.000000 meters along route # Maximum depth: 623.095086 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 583.095086 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.916136; longitude = -117.381759; captureRadius = 10; duration = 50; initialDepth = 582.420318; finalDepth = 583.095086; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:583.095086 # Seafloor depth:-623.095086 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 50.765818 meters # Minimum depth: 622.420318 meters looking forward 0.000000 meters along route # Maximum depth: 622.420318 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 582.420318 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.916178; longitude = -117.382400; captureRadius = 10; duration = 50; initialDepth = 582.869475; finalDepth = 582.420318; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:582.420318 # Seafloor depth:-622.420318 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 50.765818 meters # Minimum depth: 622.869475 meters looking forward 0.000000 meters along route # Maximum depth: 622.869475 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 582.869475 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.916220; longitude = -117.383041; captureRadius = 10; duration = 50; initialDepth = 577.819000; finalDepth = 582.869475; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:582.869475 # Seafloor depth:-622.869475 # 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 68 # Segment length 50.765818 meters # Minimum depth: 617.819000 meters looking forward 0.000000 meters along route # Maximum depth: 617.819000 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 577.819000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.916258; longitude = -117.383628; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 577.402193; finalDepth = 577.819000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:577.819 # Seafloor depth:-617.819000 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 68 # Segment length 50.765818 meters # Minimum depth: 617.402193 meters looking forward 0.000000 meters along route # Maximum depth: 617.402193 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 577.402193 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.916158; longitude = -117.384162; captureRadius = 10; duration = 50; initialDepth = 578.415974; finalDepth = 577.402193; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:577.402193 # Seafloor depth:-617.402193 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 68 # Segment length 50.765818 meters # Minimum depth: 618.415974 meters looking forward 0.000000 meters along route # Maximum depth: 618.415974 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 578.415974 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.916038; longitude = -117.384803; captureRadius = 10; duration = 50; initialDepth = 578.018560; finalDepth = 578.415974; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:578.415974 # Seafloor depth:-618.415974 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 68 # Segment length 50.765818 meters # Minimum depth: 618.018560 meters looking forward 0.000000 meters along route # Maximum depth: 618.018560 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 578.018560 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915918; longitude = -117.385444; captureRadius = 10; duration = 50; initialDepth = 578.797333; finalDepth = 578.018560; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:578.01856 # Seafloor depth:-618.018560 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 68 # Segment length 50.765818 meters # Minimum depth: 618.797333 meters looking forward 0.000000 meters along route # Maximum depth: 618.797333 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 578.797333 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915807; longitude = -117.386034; captureRadius = 10; duration = 50; initialDepth = 577.982039; finalDepth = 578.797333; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:578.797333 # Seafloor depth:-618.797333 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 68 # Segment length 50.765818 meters # Minimum depth: 617.982039 meters looking forward 0.000000 meters along route # Maximum depth: 617.982039 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 577.982039 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915708; longitude = -117.386566; captureRadius = 10; duration = 50; initialDepth = 579.721959; finalDepth = 577.982039; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:577.982039 # Seafloor depth:-617.982039 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 68 # Segment length 50.765818 meters # Minimum depth: 619.721959 meters looking forward 0.000000 meters along route # Maximum depth: 619.721959 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 579.721959 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915588; longitude = -117.387207; captureRadius = 10; duration = 50; initialDepth = 578.731393; finalDepth = 579.721959; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:579.721959 # Seafloor depth:-619.721959 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 68 # Segment length 50.765818 meters # Minimum depth: 618.731393 meters looking forward 0.000000 meters along route # Maximum depth: 618.731393 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 578.731393 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915468; longitude = -117.387848; captureRadius = 10; duration = 50; initialDepth = 579.571758; finalDepth = 578.731393; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:578.731393 # Seafloor depth:-618.731393 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 68 # Segment length 50.765818 meters # Minimum depth: 619.571758 meters looking forward 0.000000 meters along route # Maximum depth: 619.571758 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 579.571758 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915348; longitude = -117.388489; captureRadius = 10; duration = 50; initialDepth = 581.970370; finalDepth = 579.571758; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:579.571758 # Seafloor depth:-619.571758 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 68 # Segment length 50.765818 meters # Minimum depth: 621.970370 meters looking forward 0.000000 meters along route # Maximum depth: 621.970370 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 581.970370 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915228; longitude = -117.389129; captureRadius = 10; duration = 50; initialDepth = 584.567366; finalDepth = 581.970370; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:581.97037 # Seafloor depth:-621.970370 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 68 # Segment length 50.765818 meters # Minimum depth: 624.567366 meters looking forward 0.000000 meters along route # Maximum depth: 624.567366 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 584.567366 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915108; longitude = -117.389770; captureRadius = 10; duration = 50; initialDepth = 591.249744; finalDepth = 584.567366; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:584.567366 # Seafloor depth:-624.567366 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 68 # Segment length 50.765818 meters # Minimum depth: 631.249744 meters looking forward 0.000000 meters along route # Maximum depth: 631.249744 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 591.249744 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914988; longitude = -117.390411; captureRadius = 10; duration = 50; initialDepth = 595.611064; finalDepth = 591.249744; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:591.249744 # Seafloor depth:-631.249744 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 68 # Segment length 50.765818 meters # Minimum depth: 635.611064 meters looking forward 0.000000 meters along route # Maximum depth: 635.611064 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 595.611064 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914860; longitude = -117.391091; captureRadius = 10; duration = 50; initialDepth = 599.025081; finalDepth = 595.611064; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:595.611064 # Seafloor depth:-635.611064 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 68 # Segment length 50.765818 meters # Minimum depth: 639.025081 meters looking forward 0.000000 meters along route # Maximum depth: 639.025081 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 599.025081 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914747; longitude = -117.391693; captureRadius = 10; duration = 50; initialDepth = 600.599108; finalDepth = 599.025081; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:599.025081 # Seafloor depth:-639.025081 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 68 # Segment length 50.765818 meters # Minimum depth: 640.599108 meters looking forward 0.000000 meters along route # Maximum depth: 640.599108 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 600.599108 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914627; longitude = -117.392334; captureRadius = 10; duration = 50; initialDepth = 601.055450; finalDepth = 600.599108; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:600.599108 # Seafloor depth:-640.599108 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 68 # Segment length 50.765818 meters # Minimum depth: 641.055450 meters looking forward 0.000000 meters along route # Maximum depth: 641.055450 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 601.055450 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914507; longitude = -117.392975; captureRadius = 10; duration = 50; initialDepth = 604.154104; finalDepth = 601.055450; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:601.05545 # Seafloor depth:-641.055450 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 68 # Segment length 50.765818 meters # Minimum depth: 644.154104 meters looking forward 0.000000 meters along route # Maximum depth: 644.154104 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 604.154104 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914387; longitude = -117.393616; captureRadius = 10; duration = 50; initialDepth = 605.062302; finalDepth = 604.154104; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:604.154104 # Seafloor depth:-644.154104 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 68 # Segment length 50.765818 meters # Minimum depth: 645.062302 meters looking forward 0.000000 meters along route # Maximum depth: 645.062302 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 605.062302 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914267; longitude = -117.394257; captureRadius = 10; duration = 50; initialDepth = 612.504281; finalDepth = 605.062302; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:605.062302 # Seafloor depth:-645.062302 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 68 # Segment length 50.765818 meters # Minimum depth: 652.504281 meters looking forward 0.000000 meters along route # Maximum depth: 652.504281 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 612.504281 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914147; longitude = -117.394898; captureRadius = 10; duration = 50; initialDepth = 613.789200; finalDepth = 612.504281; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:612.504281 # Seafloor depth:-652.504281 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 68 # Segment length 50.765818 meters # Minimum depth: 653.789200 meters looking forward 0.000000 meters along route # Maximum depth: 653.789200 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 613.789200 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914048; longitude = -117.395426; captureRadius = 10; duration = 50; initialDepth = 605.008654; finalDepth = 613.789200; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:613.7892 # Seafloor depth:-653.789200 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 68 # Segment length 50.765818 meters # Minimum depth: 645.008654 meters looking forward 0.000000 meters along route # Maximum depth: 645.008654 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 605.008654 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913937; longitude = -117.396020; captureRadius = 10; duration = 50; initialDepth = 595.305569; finalDepth = 605.008654; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:605.008654 # Seafloor depth:-645.008654 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 68 # Segment length 50.765818 meters # Minimum depth: 635.305569 meters looking forward 0.000000 meters along route # Maximum depth: 635.305569 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 595.305569 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913817; longitude = -117.396660; captureRadius = 10; duration = 50; initialDepth = 596.220715; finalDepth = 595.305569; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:595.305569 # Seafloor depth:-635.305569 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 68 # Segment length 50.765818 meters # Minimum depth: 636.220715 meters looking forward 0.000000 meters along route # Maximum depth: 636.220715 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 596.220715 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913697; longitude = -117.397301; captureRadius = 10; duration = 50; initialDepth = 593.897720; finalDepth = 596.220715; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:596.220715 # Seafloor depth:-636.220715 # 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 67 # Segment length 50.765818 meters # Minimum depth: 633.897720 meters looking forward 0.000000 meters along route # Maximum depth: 633.897720 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 593.897720 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913597; longitude = -117.397836; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 593.000731; finalDepth = 593.897720; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:593.89772 # Seafloor depth:-633.897720 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 50.765818 meters # Minimum depth: 633.000731 meters looking forward 0.000000 meters along route # Maximum depth: 633.000731 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 593.000731 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913147; longitude = -117.397942; captureRadius = 10; duration = 50; initialDepth = 593.020271; finalDepth = 593.000731; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:593.000731 # Seafloor depth:-633.000731 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 50.765818 meters # Minimum depth: 633.020271 meters looking forward 0.000000 meters along route # Maximum depth: 633.020271 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 593.020271 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912695; longitude = -117.398049; captureRadius = 10; duration = 50; initialDepth = 590.628326; finalDepth = 593.020271; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:593.020271 # Seafloor depth:-633.020271 # 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 66 # Segment length 50.765818 meters # Minimum depth: 630.628326 meters looking forward 0.000000 meters along route # Maximum depth: 630.628326 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 590.628326 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912244; longitude = -117.398156; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 590.834774; finalDepth = 590.628326; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:590.628326 # Seafloor depth:-630.628326 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 50.765818 meters # Minimum depth: 630.834774 meters looking forward 0.000000 meters along route # Maximum depth: 630.834774 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 590.834774 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912254; longitude = -117.398103; captureRadius = 10; duration = 50; initialDepth = 588.515595; finalDepth = 590.834774; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:590.834774 # Seafloor depth:-630.834774 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 50.765818 meters # Minimum depth: 628.515595 meters looking forward 0.000000 meters along route # Maximum depth: 628.515595 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 588.515595 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912367; longitude = -117.397462; captureRadius = 10; duration = 50; initialDepth = 585.440538; finalDepth = 588.515595; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:588.515595 # Seafloor depth:-628.515595 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 50.765818 meters # Minimum depth: 625.440538 meters looking forward 0.000000 meters along route # Maximum depth: 625.440538 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 585.440538 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912481; longitude = -117.396821; captureRadius = 10; duration = 50; initialDepth = 583.277993; finalDepth = 585.440538; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:585.440538 # Seafloor depth:-625.440538 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 50.765818 meters # Minimum depth: 623.277993 meters looking forward 0.000000 meters along route # Maximum depth: 623.277993 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 583.277993 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912595; longitude = -117.396180; captureRadius = 10; duration = 50; initialDepth = 584.256989; finalDepth = 583.277993; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:583.277993 # Seafloor depth:-623.277993 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 50.765818 meters # Minimum depth: 624.256989 meters looking forward 0.000000 meters along route # Maximum depth: 624.256989 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 584.256989 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912695; longitude = -117.395618; captureRadius = 10; duration = 50; initialDepth = 610.998838; finalDepth = 584.256989; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:584.256989 # Seafloor depth:-624.256989 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 50.765818 meters # Minimum depth: 651.087904 meters looking forward 0.000000 meters along route # Maximum depth: 651.087904 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 610.998838 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912795; longitude = -117.395058; captureRadius = 10; duration = 50; initialDepth = 614.336339; finalDepth = 610.998838; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.0890660000018 # Actual altitude: 50 # Commanded vehicle depth:610.998837999998 # Seafloor depth:-651.087904 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 50.765818 meters # Minimum depth: 654.336339 meters looking forward 0.000000 meters along route # Maximum depth: 654.336339 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 614.336339 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912909; longitude = -117.394417; captureRadius = 10; duration = 50; initialDepth = 614.079291; finalDepth = 614.336339; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.0890660000018 # Actual altitude: 50 # Commanded vehicle depth:614.336339 # Seafloor depth:-654.336339 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 50.765818 meters # Minimum depth: 654.079291 meters looking forward 0.000000 meters along route # Maximum depth: 654.079291 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 614.079291 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913023; longitude = -117.393776; captureRadius = 10; duration = 50; initialDepth = 613.254479; finalDepth = 614.079291; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:614.079291 # Seafloor depth:-654.079291 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 50.765818 meters # Minimum depth: 653.254479 meters looking forward 0.000000 meters along route # Maximum depth: 653.254479 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 613.254479 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913137; longitude = -117.393135; captureRadius = 10; duration = 50; initialDepth = 612.246257; finalDepth = 613.254479; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:613.254479 # Seafloor depth:-653.254479 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 50.765818 meters # Minimum depth: 652.246257 meters looking forward 0.000000 meters along route # Maximum depth: 652.246257 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 612.246257 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913237; longitude = -117.392574; captureRadius = 10; duration = 50; initialDepth = 608.547609; finalDepth = 612.246257; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:612.246257 # Seafloor depth:-652.246257 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 50.765818 meters # Minimum depth: 648.547609 meters looking forward 0.000000 meters along route # Maximum depth: 648.547609 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 608.547609 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913336; longitude = -117.392014; captureRadius = 10; duration = 50; initialDepth = 605.832897; finalDepth = 608.547609; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:608.547609 # Seafloor depth:-648.547609 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 50.765818 meters # Minimum depth: 645.832897 meters looking forward 0.000000 meters along route # Maximum depth: 645.832897 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 605.832897 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913450; longitude = -117.391373; captureRadius = 10; duration = 50; initialDepth = 600.087374; finalDepth = 605.832897; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:605.832897 # Seafloor depth:-645.832897 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 50.765818 meters # Minimum depth: 640.087374 meters looking forward 0.000000 meters along route # Maximum depth: 640.087374 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 600.087374 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913564; longitude = -117.390732; captureRadius = 10; duration = 50; initialDepth = 596.718008; finalDepth = 600.087374; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:600.087374 # Seafloor depth:-640.087374 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 50.765818 meters # Minimum depth: 636.718008 meters looking forward 0.000000 meters along route # Maximum depth: 636.718008 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 596.718008 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913678; longitude = -117.390091; captureRadius = 10; duration = 50; initialDepth = 595.732920; finalDepth = 596.718008; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:596.718008 # Seafloor depth:-636.718008 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 50.765818 meters # Minimum depth: 635.732920 meters looking forward 0.000000 meters along route # Maximum depth: 635.732920 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 595.732920 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913778; longitude = -117.389530; captureRadius = 10; duration = 50; initialDepth = 593.486817; finalDepth = 595.732920; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:595.73292 # Seafloor depth:-635.732920 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 50.765818 meters # Minimum depth: 633.486817 meters looking forward 0.000000 meters along route # Maximum depth: 633.486817 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 593.486817 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913877; longitude = -117.388969; captureRadius = 10; duration = 50; initialDepth = 592.750571; finalDepth = 593.486817; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:593.486817 # Seafloor depth:-633.486817 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 50.765818 meters # Minimum depth: 632.750571 meters looking forward 0.000000 meters along route # Maximum depth: 632.750571 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 592.750571 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913991; longitude = -117.388328; captureRadius = 10; duration = 50; initialDepth = 594.889940; finalDepth = 592.750571; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:592.750571 # Seafloor depth:-632.750571 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 50.765818 meters # Minimum depth: 634.889940 meters looking forward 0.000000 meters along route # Maximum depth: 634.889940 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 594.889940 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914105; longitude = -117.387687; captureRadius = 10; duration = 50; initialDepth = 596.184990; finalDepth = 594.889940; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:594.88994 # Seafloor depth:-634.889940 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 50.765818 meters # Minimum depth: 636.184990 meters looking forward 0.000000 meters along route # Maximum depth: 636.184990 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 596.184990 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914219; longitude = -117.387046; captureRadius = 10; duration = 50; initialDepth = 597.808747; finalDepth = 596.184990; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:596.18499 # Seafloor depth:-636.184990 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 50.765818 meters # Minimum depth: 637.808747 meters looking forward 0.000000 meters along route # Maximum depth: 637.808747 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 597.808747 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914333; longitude = -117.386406; captureRadius = 10; duration = 50; initialDepth = 597.705543; finalDepth = 597.808747; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:597.808747 # Seafloor depth:-637.808747 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 50.765818 meters # Minimum depth: 637.705543 meters looking forward 0.000000 meters along route # Maximum depth: 637.705543 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 597.705543 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914454; longitude = -117.385724; captureRadius = 10; duration = 50; initialDepth = 596.362901; finalDepth = 597.705543; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:597.705543 # Seafloor depth:-637.705543 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 50.765818 meters # Minimum depth: 636.362901 meters looking forward 0.000000 meters along route # Maximum depth: 636.362901 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 596.362901 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914561; longitude = -117.385124; captureRadius = 10; duration = 50; initialDepth = 594.511420; finalDepth = 596.362901; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:596.362901 # Seafloor depth:-636.362901 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 50.765818 meters # Minimum depth: 634.511420 meters looking forward 0.000000 meters along route # Maximum depth: 634.511420 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 594.511420 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914675; longitude = -117.384483; captureRadius = 10; duration = 50; initialDepth = 591.273422; finalDepth = 594.511420; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:594.51142 # Seafloor depth:-634.511420 # 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 65 # Segment length 50.765818 meters # Minimum depth: 631.273422 meters looking forward 0.000000 meters along route # Maximum depth: 631.273422 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 591.273422 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914770; longitude = -117.383949; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 586.184316; finalDepth = 591.273422; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:591.273422 # Seafloor depth:-631.273422 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 50.765818 meters # Minimum depth: 626.184316 meters looking forward 0.000000 meters along route # Maximum depth: 626.184316 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 586.184316 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914742; longitude = -117.383361; captureRadius = 10; duration = 50; initialDepth = 583.575526; finalDepth = 586.184316; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:586.184316 # Seafloor depth:-626.184316 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 50.765818 meters # Minimum depth: 623.575526 meters looking forward 0.000000 meters along route # Maximum depth: 623.575526 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 583.575526 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914711; longitude = -117.382720; captureRadius = 10; duration = 50; initialDepth = 582.076768; finalDepth = 583.575526; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:583.575526 # Seafloor depth:-623.575526 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 50.765818 meters # Minimum depth: 622.076768 meters looking forward 0.000000 meters along route # Maximum depth: 622.076768 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 582.076768 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914680; longitude = -117.382079; captureRadius = 10; duration = 50; initialDepth = 580.754623; finalDepth = 582.076768; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:582.076768 # Seafloor depth:-622.076768 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 50.765818 meters # Minimum depth: 620.754623 meters looking forward 0.000000 meters along route # Maximum depth: 620.754623 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 580.754623 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914649; longitude = -117.381438; captureRadius = 10; duration = 50; initialDepth = 578.937025; finalDepth = 580.754623; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:580.754623 # Seafloor depth:-620.754623 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 50.765818 meters # Minimum depth: 618.937025 meters looking forward 0.000000 meters along route # Maximum depth: 618.937025 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 578.937025 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914618; longitude = -117.380797; captureRadius = 10; duration = 50; initialDepth = 578.070787; finalDepth = 578.937025; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:578.937025 # Seafloor depth:-618.937025 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 50.765818 meters # Minimum depth: 618.070787 meters looking forward 0.000000 meters along route # Maximum depth: 618.070787 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 578.070787 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914587; longitude = -117.380156; captureRadius = 10; duration = 50; initialDepth = 575.352789; finalDepth = 578.070787; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:578.070787 # Seafloor depth:-618.070787 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 50.765818 meters # Minimum depth: 615.352789 meters looking forward 0.000000 meters along route # Maximum depth: 615.352789 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 575.352789 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914556; longitude = -117.379515; captureRadius = 10; duration = 50; initialDepth = 575.350653; finalDepth = 575.352789; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:575.352789 # Seafloor depth:-615.352789 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 50.765818 meters # Minimum depth: 615.350653 meters looking forward 0.000000 meters along route # Maximum depth: 615.350653 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 575.350653 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914525; longitude = -117.378875; captureRadius = 10; duration = 50; initialDepth = 575.538803; finalDepth = 575.350653; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:575.350653 # Seafloor depth:-615.350653 # 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 64 # Segment length 50.765818 meters # Minimum depth: 615.538803 meters looking forward 0.000000 meters along route # Maximum depth: 615.538803 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 575.538803 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914499; longitude = -117.378340; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 574.405929; finalDepth = 575.538803; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:575.538803 # Seafloor depth:-615.538803 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 64 # Segment length 50.765818 meters # Minimum depth: 614.405929 meters looking forward 0.000000 meters along route # Maximum depth: 614.405929 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 574.405929 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914416; longitude = -117.377753; captureRadius = 10; duration = 50; initialDepth = 575.069826; finalDepth = 574.405929; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:574.405929 # Seafloor depth:-614.405929 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 64 # Segment length 50.765818 meters # Minimum depth: 615.069826 meters looking forward 0.000000 meters along route # Maximum depth: 615.069826 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 575.069826 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914319; longitude = -117.377074; captureRadius = 10; duration = 50; initialDepth = 574.677394; finalDepth = 575.069826; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:575.069826 # Seafloor depth:-615.069826 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 64 # Segment length 50.765818 meters # Minimum depth: 614.677394 meters looking forward 0.000000 meters along route # Maximum depth: 614.677394 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 574.677394 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914233; longitude = -117.376471; captureRadius = 10; duration = 50; initialDepth = 574.001710; finalDepth = 574.677394; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:574.677394 # Seafloor depth:-614.677394 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 64 # Segment length 50.765818 meters # Minimum depth: 614.001710 meters looking forward 0.000000 meters along route # Maximum depth: 614.001710 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 574.001710 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914142; longitude = -117.375830; captureRadius = 10; duration = 50; initialDepth = 573.184544; finalDepth = 574.001710; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:574.00171 # Seafloor depth:-614.001710 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 64 # Segment length 50.765818 meters # Minimum depth: 613.184544 meters looking forward 0.000000 meters along route # Maximum depth: 613.184544 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 573.184544 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914048; longitude = -117.375171; captureRadius = 10; duration = 50; initialDepth = 572.277405; finalDepth = 573.184544; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:573.184544 # Seafloor depth:-613.184544 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 64 # Segment length 50.765818 meters # Minimum depth: 612.277405 meters looking forward 0.000000 meters along route # Maximum depth: 612.277405 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 572.277405 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913960; longitude = -117.374548; captureRadius = 10; duration = 50; initialDepth = 572.674971; finalDepth = 572.277405; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:572.277405 # Seafloor depth:-612.277405 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 64 # Segment length 50.765818 meters # Minimum depth: 612.674971 meters looking forward 0.000000 meters along route # Maximum depth: 612.674971 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 572.674971 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913869; longitude = -117.373907; captureRadius = 10; duration = 50; initialDepth = 573.342695; finalDepth = 572.674971; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:572.674971 # Seafloor depth:-612.674971 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 64 # Segment length 50.765818 meters # Minimum depth: 613.342695 meters looking forward 0.000000 meters along route # Maximum depth: 613.342695 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 573.342695 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913778; longitude = -117.373266; captureRadius = 10; duration = 50; initialDepth = 571.670588; finalDepth = 573.342695; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:573.342695 # Seafloor depth:-613.342695 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 64 # Segment length 50.765818 meters # Minimum depth: 611.670588 meters looking forward 0.000000 meters along route # Maximum depth: 611.670588 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 571.670588 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913686; longitude = -117.372625; captureRadius = 10; duration = 50; initialDepth = 571.015667; finalDepth = 571.670588; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:571.670588 # Seafloor depth:-611.670588 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 64 # Segment length 50.765818 meters # Minimum depth: 611.015667 meters looking forward 0.000000 meters along route # Maximum depth: 611.015667 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 571.015667 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913595; longitude = -117.371984; captureRadius = 10; duration = 50; initialDepth = 569.730416; finalDepth = 571.015667; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:571.015667 # Seafloor depth:-611.015667 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 64 # Segment length 50.765818 meters # Minimum depth: 609.730416 meters looking forward 0.000000 meters along route # Maximum depth: 609.730416 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 569.730416 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913504; longitude = -117.371344; captureRadius = 10; duration = 50; initialDepth = 568.969327; finalDepth = 569.730416; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:569.730416 # Seafloor depth:-609.730416 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 64 # Segment length 50.765818 meters # Minimum depth: 608.969327 meters looking forward 0.000000 meters along route # Maximum depth: 608.969327 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 568.969327 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913413; longitude = -117.370703; captureRadius = 10; duration = 50; initialDepth = 568.459990; finalDepth = 568.969327; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:568.969327 # Seafloor depth:-608.969327 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 64 # Segment length 50.765818 meters # Minimum depth: 608.459990 meters looking forward 0.000000 meters along route # Maximum depth: 608.459990 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 568.459990 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913322; longitude = -117.370062; captureRadius = 10; duration = 50; initialDepth = 568.997986; finalDepth = 568.459990; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:568.45999 # Seafloor depth:-608.459990 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 64 # Segment length 50.765818 meters # Minimum depth: 608.997986 meters looking forward 0.000000 meters along route # Maximum depth: 608.997986 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 568.997986 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913231; longitude = -117.369421; captureRadius = 10; duration = 50; initialDepth = 569.039201; finalDepth = 568.997986; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:568.997986 # Seafloor depth:-608.997986 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 64 # Segment length 50.765818 meters # Minimum depth: 609.039201 meters looking forward 0.000000 meters along route # Maximum depth: 609.039201 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 569.039201 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913140; longitude = -117.368780; captureRadius = 10; duration = 50; initialDepth = 568.470413; finalDepth = 569.039201; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:569.039201 # Seafloor depth:-609.039201 # 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 63 # Segment length 50.765818 meters # Minimum depth: 608.470413 meters looking forward 0.000000 meters along route # Maximum depth: 608.470413 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 568.470413 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913056; longitude = -117.368192; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 568.170098; finalDepth = 568.470413; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:568.470413 # Seafloor depth:-608.470413 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 50.765818 meters # Minimum depth: 608.170098 meters looking forward 0.000000 meters along route # Maximum depth: 608.170098 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 568.170098 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912963; longitude = -117.367818; captureRadius = 10; duration = 50; initialDepth = 567.797790; finalDepth = 568.170098; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:568.170098 # Seafloor depth:-608.170098 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 50.765818 meters # Minimum depth: 607.797790 meters looking forward 0.000000 meters along route # Maximum depth: 607.797790 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 567.797790 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912831; longitude = -117.367291; captureRadius = 10; duration = 50; initialDepth = 565.229529; finalDepth = 567.797790; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:567.79779 # Seafloor depth:-607.797790 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 50.765818 meters # Minimum depth: 605.229529 meters looking forward 0.000000 meters along route # Maximum depth: 605.229529 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 565.229529 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912695; longitude = -117.366751; captureRadius = 10; duration = 50; initialDepth = 563.554834; finalDepth = 565.229529; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:565.229529 # Seafloor depth:-605.229529 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 50.765818 meters # Minimum depth: 603.554834 meters looking forward 0.000000 meters along route # Maximum depth: 603.554834 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 563.554834 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912560; longitude = -117.366210; captureRadius = 10; duration = 50; initialDepth = 563.940022; finalDepth = 563.554834; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:563.554834 # Seafloor depth:-603.554834 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 50.765818 meters # Minimum depth: 603.940022 meters looking forward 0.000000 meters along route # Maximum depth: 603.940022 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 563.940022 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912425; longitude = -117.365669; captureRadius = 10; duration = 50; initialDepth = 562.365089; finalDepth = 563.940022; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:563.940022 # Seafloor depth:-603.940022 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 50.765818 meters # Minimum depth: 602.365089 meters looking forward 0.000000 meters along route # Maximum depth: 602.365089 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 562.365089 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912289; longitude = -117.365128; captureRadius = 10; duration = 50; initialDepth = 561.360120; finalDepth = 562.365089; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:562.365089 # Seafloor depth:-602.365089 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 50.765818 meters # Minimum depth: 601.360120 meters looking forward 0.000000 meters along route # Maximum depth: 601.360120 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 561.360120 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912154; longitude = -117.364588; captureRadius = 10; duration = 50; initialDepth = 560.529233; finalDepth = 561.360120; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:561.36012 # Seafloor depth:-601.360120 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 50.765818 meters # Minimum depth: 600.529233 meters looking forward 0.000000 meters along route # Maximum depth: 600.529233 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 560.529233 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912019; longitude = -117.364047; captureRadius = 10; duration = 50; initialDepth = 554.779566; finalDepth = 560.529233; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:560.529233 # Seafloor depth:-600.529233 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 50.765818 meters # Minimum depth: 594.779566 meters looking forward 0.000000 meters along route # Maximum depth: 594.779566 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 554.779566 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911880; longitude = -117.363492; captureRadius = 10; duration = 50; initialDepth = 546.598428; finalDepth = 554.779566; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:554.779566 # Seafloor depth:-594.779566 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 50.765818 meters # Minimum depth: 586.598428 meters looking forward 0.000000 meters along route # Maximum depth: 586.598428 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 546.598428 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911748; longitude = -117.362965; captureRadius = 10; duration = 50; initialDepth = 543.374456; finalDepth = 546.598428; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:546.598428 # Seafloor depth:-586.598428 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 50.765818 meters # Minimum depth: 583.374456 meters looking forward 0.000000 meters along route # Maximum depth: 583.374456 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 543.374456 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911613; longitude = -117.362425; captureRadius = 10; duration = 50; initialDepth = 541.067506; finalDepth = 543.374456; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:543.374456 # Seafloor depth:-583.374456 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 50.765818 meters # Minimum depth: 581.067506 meters looking forward 0.000000 meters along route # Maximum depth: 581.067506 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 541.067506 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911477; longitude = -117.361884; captureRadius = 10; duration = 50; initialDepth = 539.658509; finalDepth = 541.067506; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:541.067506 # Seafloor depth:-581.067506 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 50.765818 meters # Minimum depth: 579.658509 meters looking forward 0.000000 meters along route # Maximum depth: 579.658509 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 539.658509 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911342; longitude = -117.361343; captureRadius = 10; duration = 50; initialDepth = 538.615674; finalDepth = 539.658509; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:539.658509 # Seafloor depth:-579.658509 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 50.765818 meters # Minimum depth: 578.615674 meters looking forward 0.000000 meters along route # Maximum depth: 578.615674 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 538.615674 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911198; longitude = -117.360768; captureRadius = 10; duration = 50; initialDepth = 537.699169; finalDepth = 538.615674; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:538.615674 # Seafloor depth:-578.615674 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 50.765818 meters # Minimum depth: 577.699169 meters looking forward 0.000000 meters along route # Maximum depth: 577.699169 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 537.699169 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911038; longitude = -117.360127; captureRadius = 10; duration = 50; initialDepth = 535.790039; finalDepth = 537.699169; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:537.699169 # Seafloor depth:-577.699169 # 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 62 # Segment length 50.765818 meters # Minimum depth: 575.790039 meters looking forward 0.000000 meters along route # Maximum depth: 575.790039 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 535.790039 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.910891; longitude = -117.359540; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 534.099267; finalDepth = 535.790039; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:535.790039 # Seafloor depth:-575.790039 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 50.765818 meters # Minimum depth: 574.099267 meters looking forward 0.000000 meters along route # Maximum depth: 574.099267 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 534.099267 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.910801; longitude = -117.358977; captureRadius = 10; duration = 50; initialDepth = 530.286370; finalDepth = 534.099267; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:534.099267 # Seafloor depth:-574.099267 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 50.765818 meters # Minimum depth: 570.286370 meters looking forward 0.000000 meters along route # Maximum depth: 570.286370 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 530.286370 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.910703; longitude = -117.358365; captureRadius = 10; duration = 50; initialDepth = 528.954232; finalDepth = 530.286370; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:530.28637 # Seafloor depth:-570.286370 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 50.765818 meters # Minimum depth: 568.954232 meters looking forward 0.000000 meters along route # Maximum depth: 568.954232 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 528.954232 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.910600; longitude = -117.357724; captureRadius = 10; duration = 50; initialDepth = 528.867099; finalDepth = 528.954232; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:528.954232 # Seafloor depth:-568.954232 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 50.765818 meters # Minimum depth: 568.867099 meters looking forward 0.000000 meters along route # Maximum depth: 568.867099 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 528.867099 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.910498; longitude = -117.357083; captureRadius = 10; duration = 50; initialDepth = 526.468400; finalDepth = 528.867099; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:528.867099 # Seafloor depth:-568.867099 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 50.765818 meters # Minimum depth: 566.468400 meters looking forward 0.000000 meters along route # Maximum depth: 566.468400 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 526.468400 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.910395; longitude = -117.356442; captureRadius = 10; duration = 50; initialDepth = 528.032698; finalDepth = 526.468400; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:526.4684 # Seafloor depth:-566.468400 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 50.765818 meters # Minimum depth: 568.032698 meters looking forward 0.000000 meters along route # Maximum depth: 568.032698 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 528.032698 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.910292; longitude = -117.355801; captureRadius = 10; duration = 50; initialDepth = 526.086322; finalDepth = 528.032698; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:528.032698 # Seafloor depth:-568.032698 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 50.765818 meters # Minimum depth: 566.086322 meters looking forward 0.000000 meters along route # Maximum depth: 566.086322 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 526.086322 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.910190; longitude = -117.355160; captureRadius = 10; duration = 50; initialDepth = 523.453575; finalDepth = 526.086322; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:526.086322 # Seafloor depth:-566.086322 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 50.765818 meters # Minimum depth: 563.453575 meters looking forward 0.000000 meters along route # Maximum depth: 563.453575 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 523.453575 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.910087; longitude = -117.354519; captureRadius = 10; duration = 50; initialDepth = 521.931836; finalDepth = 523.453575; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:523.453575 # Seafloor depth:-563.453575 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 50.765818 meters # Minimum depth: 561.931836 meters looking forward 0.000000 meters along route # Maximum depth: 561.931836 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 521.931836 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.909985; longitude = -117.353878; captureRadius = 10; duration = 50; initialDepth = 522.464905; finalDepth = 521.931836; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:521.931836 # Seafloor depth:-561.931836 # 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 61 # Segment length 50.765818 meters # Minimum depth: 562.464905 meters looking forward 0.000000 meters along route # Maximum depth: 562.464905 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 522.464905 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.909899; longitude = -117.353344; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 525.327898; finalDepth = 522.464905; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:522.464905 # Seafloor depth:-562.464905 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 50.765818 meters # Minimum depth: 565.327898 meters looking forward 0.000000 meters along route # Maximum depth: 565.327898 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 525.327898 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.909766; longitude = -117.352917; captureRadius = 10; duration = 50; initialDepth = 532.559751; finalDepth = 525.327898; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:525.327898 # Seafloor depth:-565.327898 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 50.765818 meters # Minimum depth: 572.559751 meters looking forward 0.000000 meters along route # Maximum depth: 572.559751 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 532.559751 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.909567; longitude = -117.352276; captureRadius = 10; duration = 50; initialDepth = 537.409746; finalDepth = 532.559751; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:532.559751 # Seafloor depth:-572.559751 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 50.765818 meters # Minimum depth: 577.409746 meters looking forward 0.000000 meters along route # Maximum depth: 577.409746 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 537.409746 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.909367; longitude = -117.351635; captureRadius = 10; duration = 50; initialDepth = 531.060861; finalDepth = 537.409746; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:537.409746 # Seafloor depth:-577.409746 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 50.765818 meters # Minimum depth: 571.060861 meters looking forward 0.000000 meters along route # Maximum depth: 571.060861 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 531.060861 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.909168; longitude = -117.350994; captureRadius = 10; duration = 50; initialDepth = 536.079596; finalDepth = 531.060861; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:531.060861 # Seafloor depth:-571.060861 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 50.765818 meters # Minimum depth: 576.079596 meters looking forward 0.000000 meters along route # Maximum depth: 576.079596 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 536.079596 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.908969; longitude = -117.350353; captureRadius = 10; duration = 50; initialDepth = 530.345168; finalDepth = 536.079596; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:536.079596 # Seafloor depth:-576.079596 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 50.765818 meters # Minimum depth: 570.345168 meters looking forward 0.000000 meters along route # Maximum depth: 570.345168 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 530.345168 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.908769; longitude = -117.349712; captureRadius = 10; duration = 50; initialDepth = 527.828336; finalDepth = 530.345168; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:530.345168 # Seafloor depth:-570.345168 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 50.765818 meters # Minimum depth: 567.828336 meters looking forward 0.000000 meters along route # Maximum depth: 567.828336 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 527.828336 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.908570; longitude = -117.349071; captureRadius = 10; duration = 50; initialDepth = 523.848343; finalDepth = 527.828336; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:527.828336 # Seafloor depth:-567.828336 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 50.765818 meters # Minimum depth: 563.848343 meters looking forward 0.000000 meters along route # Maximum depth: 563.848343 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 523.848343 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.908365; longitude = -117.348413; captureRadius = 10; duration = 50; initialDepth = 522.762224; finalDepth = 523.848343; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:523.848343 # Seafloor depth:-563.848343 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 50.765818 meters # Minimum depth: 562.762224 meters looking forward 0.000000 meters along route # Maximum depth: 562.762224 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 522.762224 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.908171; longitude = -117.347789; captureRadius = 10; duration = 50; initialDepth = 520.811371; finalDepth = 522.762224; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:522.762224 # Seafloor depth:-562.762224 # 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 60 # Segment length 50.765818 meters # Minimum depth: 560.811371 meters looking forward 0.000000 meters along route # Maximum depth: 560.811371 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 520.811371 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.908005; longitude = -117.347255; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 519.754694; finalDepth = 520.811371; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:520.811371 # Seafloor depth:-560.811371 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 60 # Segment length 50.765818 meters # Minimum depth: 559.754694 meters looking forward 0.000000 meters along route # Maximum depth: 559.754694 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 519.754694 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.907679; longitude = -117.346828; captureRadius = 10; duration = 50; initialDepth = 521.353843; finalDepth = 519.754694; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:519.754694 # Seafloor depth:-559.754694 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 60 # Segment length 50.765818 meters # Minimum depth: 561.353843 meters looking forward 0.000000 meters along route # Maximum depth: 561.353843 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 521.353843 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.907283; longitude = -117.346310; captureRadius = 10; duration = 50; initialDepth = 519.840666; finalDepth = 521.353843; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:521.353843 # Seafloor depth:-561.353843 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 60 # Segment length 50.765818 meters # Minimum depth: 559.840666 meters looking forward 0.000000 meters along route # Maximum depth: 559.840666 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 519.840666 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.906944; longitude = -117.345866; captureRadius = 10; duration = 50; initialDepth = 517.871090; finalDepth = 519.840666; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:519.840666 # Seafloor depth:-559.840666 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 60 # Segment length 50.765818 meters # Minimum depth: 557.871090 meters looking forward 0.000000 meters along route # Maximum depth: 557.871090 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 517.871090 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.906577; longitude = -117.345386; captureRadius = 10; duration = 50; initialDepth = 515.178806; finalDepth = 517.871090; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:517.87109 # Seafloor depth:-557.871090 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 60 # Segment length 50.765818 meters # Minimum depth: 555.178806 meters looking forward 0.000000 meters along route # Maximum depth: 555.178806 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 515.178806 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.906200; longitude = -117.344893; captureRadius = 10; duration = 50; initialDepth = 513.049843; finalDepth = 515.178806; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:515.178806 # Seafloor depth:-555.178806 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 60 # Segment length 50.765818 meters # Minimum depth: 553.049843 meters looking forward 0.000000 meters along route # Maximum depth: 553.049843 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 513.049843 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.905794; longitude = -117.344362; captureRadius = 10; duration = 50; initialDepth = 511.354462; finalDepth = 513.049843; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:513.049843 # Seafloor depth:-553.049843 # 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 59 # Segment length 50.765818 meters # Minimum depth: 551.354462 meters looking forward 0.000000 meters along route # Maximum depth: 551.354462 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 511.354462 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.905434; longitude = -117.343890; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 510.459157; finalDepth = 511.354462; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:511.354462 # Seafloor depth:-551.354462 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 50.765818 meters # Minimum depth: 550.459157 meters looking forward 0.000000 meters along route # Maximum depth: 550.459157 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 510.459157 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.905375; longitude = -117.343783; captureRadius = 10; duration = 50; initialDepth = 508.803178; finalDepth = 510.459157; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:510.459157 # Seafloor depth:-550.459157 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 50.765818 meters # Minimum depth: 548.803178 meters looking forward 0.000000 meters along route # Maximum depth: 548.803178 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 508.803178 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.905112; longitude = -117.343303; captureRadius = 10; duration = 50; initialDepth = 508.427547; finalDepth = 508.803178; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:508.803178 # Seafloor depth:-548.803178 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 50.765818 meters # Minimum depth: 548.427547 meters looking forward 0.000000 meters along route # Maximum depth: 548.427547 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 508.427547 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.904847; longitude = -117.342821; captureRadius = 10; duration = 50; initialDepth = 509.910562; finalDepth = 508.427547; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:508.427547 # Seafloor depth:-548.427547 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 50.765818 meters # Minimum depth: 549.910562 meters looking forward 0.000000 meters along route # Maximum depth: 549.910562 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 509.910562 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.904577; longitude = -117.342328; captureRadius = 10; duration = 50; initialDepth = 508.901474; finalDepth = 509.910562; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:509.910562 # Seafloor depth:-549.910562 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 50.765818 meters # Minimum depth: 548.901474 meters looking forward 0.000000 meters along route # Maximum depth: 548.901474 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 508.901474 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.904306; longitude = -117.341835; captureRadius = 10; duration = 50; initialDepth = 507.966363; finalDepth = 508.901474; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:508.901474 # Seafloor depth:-548.901474 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 50.765818 meters # Minimum depth: 547.966363 meters looking forward 0.000000 meters along route # Maximum depth: 547.966363 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 507.966363 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.904056; longitude = -117.341380; captureRadius = 10; duration = 50; initialDepth = 506.299757; finalDepth = 507.966363; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:507.966363 # Seafloor depth:-547.966363 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 50.765818 meters # Minimum depth: 546.299757 meters looking forward 0.000000 meters along route # Maximum depth: 546.299757 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 506.299757 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.903792; longitude = -117.340899; captureRadius = 10; duration = 50; initialDepth = 504.657875; finalDepth = 506.299757; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:506.299757 # Seafloor depth:-546.299757 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 50.765818 meters # Minimum depth: 544.657875 meters looking forward 0.000000 meters along route # Maximum depth: 544.657875 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 504.657875 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.903528; longitude = -117.340418; captureRadius = 10; duration = 50; initialDepth = 501.347026; finalDepth = 504.657875; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:504.657875 # Seafloor depth:-544.657875 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 50.765818 meters # Minimum depth: 541.347026 meters looking forward 0.000000 meters along route # Maximum depth: 541.347026 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 501.347026 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.903265; longitude = -117.339938; captureRadius = 10; duration = 50; initialDepth = 499.893438; finalDepth = 501.347026; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:501.347026 # Seafloor depth:-541.347026 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 50.765818 meters # Minimum depth: 539.893438 meters looking forward 0.000000 meters along route # Maximum depth: 539.893438 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 499.893438 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.903001; longitude = -117.339457; captureRadius = 10; duration = 50; initialDepth = 498.136797; finalDepth = 499.893438; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:499.893438 # Seafloor depth:-539.893438 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 50.765818 meters # Minimum depth: 538.136797 meters looking forward 0.000000 meters along route # Maximum depth: 538.136797 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 498.136797 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.902737; longitude = -117.338976; captureRadius = 10; duration = 50; initialDepth = 496.544706; finalDepth = 498.136797; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:498.136797 # Seafloor depth:-538.136797 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 50.765818 meters # Minimum depth: 536.544706 meters looking forward 0.000000 meters along route # Maximum depth: 536.544706 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 496.544706 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.902473; longitude = -117.338496; captureRadius = 10; duration = 50; initialDepth = 495.748524; finalDepth = 496.544706; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:496.544706 # Seafloor depth:-536.544706 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 50.765818 meters # Minimum depth: 535.748524 meters looking forward 0.000000 meters along route # Maximum depth: 535.748524 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 495.748524 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.902209; longitude = -117.338015; captureRadius = 10; duration = 50; initialDepth = 499.651566; finalDepth = 495.748524; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:495.748524 # Seafloor depth:-535.748524 # 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 58 # Segment length 50.765818 meters # Minimum depth: 539.651566 meters looking forward 0.000000 meters along route # Maximum depth: 539.651566 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 499.651566 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.901916; longitude = -117.337481; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 490.975921; finalDepth = 499.651566; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:499.651566 # Seafloor depth:-539.651566 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 58 # Segment length 50.765818 meters # Minimum depth: 530.975921 meters looking forward 0.000000 meters along route # Maximum depth: 530.975921 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 490.975921 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.901784; longitude = -117.336893; captureRadius = 10; duration = 50; initialDepth = 487.382200; finalDepth = 490.975921; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:490.975921 # Seafloor depth:-530.975921 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 58 # Segment length 50.765818 meters # Minimum depth: 527.382200 meters looking forward 0.000000 meters along route # Maximum depth: 527.382200 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 487.382200 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.901639; longitude = -117.336252; captureRadius = 10; duration = 50; initialDepth = 481.472729; finalDepth = 487.382200; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:487.3822 # Seafloor depth:-527.382200 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 58 # Segment length 50.765818 meters # Minimum depth: 521.472729 meters looking forward 0.000000 meters along route # Maximum depth: 521.472729 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 481.472729 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.901494; longitude = -117.335611; captureRadius = 10; duration = 50; initialDepth = 480.084686; finalDepth = 481.472729; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:481.472729 # Seafloor depth:-521.472729 # 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 57 # Segment length 50.765818 meters # Minimum depth: 520.084686 meters looking forward 0.000000 meters along route # Maximum depth: 520.084686 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 480.084686 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.901374; longitude = -117.335077; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 479.608407; finalDepth = 480.084686; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:480.084686 # Seafloor depth:-520.084686 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 50.765818 meters # Minimum depth: 519.608407 meters looking forward 0.000000 meters along route # Maximum depth: 519.608407 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 479.608407 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.901388; longitude = -117.334971; captureRadius = 10; duration = 50; initialDepth = 479.679832; finalDepth = 479.608407; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:479.608407 # Seafloor depth:-519.608407 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 50.765818 meters # Minimum depth: 519.679832 meters looking forward 0.000000 meters along route # Maximum depth: 519.679832 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 479.679832 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.901471; longitude = -117.334330; captureRadius = 10; duration = 50; initialDepth = 506.321509; finalDepth = 479.679832; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:479.679832 # Seafloor depth:-519.679832 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 50.765818 meters # Minimum depth: 546.321509 meters looking forward 0.000000 meters along route # Maximum depth: 546.321509 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 506.321509 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.901554; longitude = -117.333689; captureRadius = 10; duration = 50; initialDepth = 490.438575; finalDepth = 506.321509; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:506.321509 # Seafloor depth:-546.321509 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 50.765818 meters # Minimum depth: 530.438575 meters looking forward 0.000000 meters along route # Maximum depth: 530.438575 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 490.438575 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.901636; longitude = -117.333048; captureRadius = 10; duration = 50; initialDepth = 492.172072; finalDepth = 490.438575; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:490.438575 # Seafloor depth:-530.438575 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 50.765818 meters # Minimum depth: 532.172072 meters looking forward 0.000000 meters along route # Maximum depth: 532.172072 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 492.172072 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.901719; longitude = -117.332407; captureRadius = 10; duration = 50; initialDepth = 494.703851; finalDepth = 492.172072; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:492.172072 # Seafloor depth:-532.172072 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 50.765818 meters # Minimum depth: 534.703851 meters looking forward 0.000000 meters along route # Maximum depth: 534.703851 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 494.703851 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.901802; longitude = -117.331766; captureRadius = 10; duration = 50; initialDepth = 491.350562; finalDepth = 494.703851; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:494.703851 # Seafloor depth:-534.703851 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 50.765818 meters # Minimum depth: 531.350562 meters looking forward 0.000000 meters along route # Maximum depth: 531.350562 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 491.350562 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.901885; longitude = -117.331125; captureRadius = 10; duration = 50; initialDepth = 489.566055; finalDepth = 491.350562; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:491.350562 # Seafloor depth:-531.350562 # 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 56 # Segment length 50.765818 meters # Minimum depth: 529.566055 meters looking forward 0.000000 meters along route # Maximum depth: 529.566055 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 489.566055 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.901961; longitude = -117.330537; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 486.711183; finalDepth = 489.566055; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:489.566055 # Seafloor depth:-529.566055 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 50.765818 meters # Minimum depth: 526.711183 meters looking forward 0.000000 meters along route # Maximum depth: 526.711183 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 486.711183 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.901819; longitude = -117.330003; captureRadius = 10; duration = 50; initialDepth = 489.909617; finalDepth = 486.711183; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:486.711183 # Seafloor depth:-526.711183 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 50.765818 meters # Minimum depth: 529.909617 meters looking forward 0.000000 meters along route # Maximum depth: 529.909617 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 489.909617 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.901649; longitude = -117.329362; captureRadius = 10; duration = 50; initialDepth = 483.614994; finalDepth = 489.909617; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:489.909617 # Seafloor depth:-529.909617 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 50.765818 meters # Minimum depth: 523.614994 meters looking forward 0.000000 meters along route # Maximum depth: 523.614994 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 483.614994 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.901479; longitude = -117.328721; captureRadius = 10; duration = 50; initialDepth = 478.436466; finalDepth = 483.614994; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:483.614994 # Seafloor depth:-523.614994 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 50.765818 meters # Minimum depth: 518.436466 meters looking forward 0.000000 meters along route # Maximum depth: 518.436466 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 478.436466 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.901329; longitude = -117.328159; captureRadius = 10; duration = 50; initialDepth = 478.928502; finalDepth = 478.436466; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:478.436466 # Seafloor depth:-518.436466 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 50.765818 meters # Minimum depth: 518.928502 meters looking forward 0.000000 meters along route # Maximum depth: 518.928502 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 478.928502 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.901180; longitude = -117.327600; captureRadius = 10; duration = 50; initialDepth = 471.583719; finalDepth = 478.928502; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:478.928502 # Seafloor depth:-518.928502 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 50.765818 meters # Minimum depth: 511.583719 meters looking forward 0.000000 meters along route # Maximum depth: 511.583719 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 471.583719 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.901010; longitude = -117.326959; captureRadius = 10; duration = 50; initialDepth = 467.459952; finalDepth = 471.583719; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:471.583719 # Seafloor depth:-511.583719 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 50.765818 meters # Minimum depth: 507.459952 meters looking forward 0.000000 meters along route # Maximum depth: 507.459952 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 467.459952 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.900840; longitude = -117.326318; captureRadius = 10; duration = 50; initialDepth = 463.370552; finalDepth = 467.459952; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:467.459952 # Seafloor depth:-507.459952 # 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 55 # Segment length 50.765818 meters # Minimum depth: 503.370552 meters looking forward 0.000000 meters along route # Maximum depth: 503.370552 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 463.370552 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.900698; longitude = -117.325784; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 458.215174; finalDepth = 463.370552; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:463.370552 # Seafloor depth:-503.370552 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 50.765818 meters # Minimum depth: 498.215174 meters looking forward 0.000000 meters along route # Maximum depth: 498.215174 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 458.215174 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.900382; longitude = -117.325303; captureRadius = 10; duration = 50; initialDepth = 457.402165; finalDepth = 458.215174; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:458.215174 # Seafloor depth:-498.215174 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 50.765818 meters # Minimum depth: 497.402165 meters looking forward 0.000000 meters along route # Maximum depth: 497.402165 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 457.402165 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.900101; longitude = -117.324876; captureRadius = 10; duration = 50; initialDepth = 452.967884; finalDepth = 457.402165; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:457.402165 # Seafloor depth:-497.402165 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 50.765818 meters # Minimum depth: 492.967884 meters looking forward 0.000000 meters along route # Maximum depth: 492.967884 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 452.967884 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.899785; longitude = -117.324395; captureRadius = 10; duration = 50; initialDepth = 450.796131; finalDepth = 452.967884; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:452.967884 # Seafloor depth:-492.967884 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 50.765818 meters # Minimum depth: 490.796131 meters looking forward 0.000000 meters along route # Maximum depth: 490.796131 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 450.796131 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.899435; longitude = -117.323862; captureRadius = 10; duration = 50; initialDepth = 452.494372; finalDepth = 450.796131; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:450.796131 # Seafloor depth:-490.796131 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 50.765818 meters # Minimum depth: 492.494372 meters looking forward 0.000000 meters along route # Maximum depth: 492.494372 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 452.494372 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.899154; longitude = -117.323434; captureRadius = 10; duration = 50; initialDepth = 456.256386; finalDepth = 452.494372; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:452.494372 # Seafloor depth:-492.494372 # 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 54 # Segment length 50.765818 meters # Minimum depth: 496.256386 meters looking forward 0.000000 meters along route # Maximum depth: 496.256386 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 456.256386 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.898803; longitude = -117.322900; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 456.284012; finalDepth = 456.256386; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:456.256386 # Seafloor depth:-496.256386 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 50.765818 meters # Minimum depth: 496.284012 meters looking forward 0.000000 meters along route # Maximum depth: 496.284012 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 456.284012 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.898758; longitude = -117.322876; captureRadius = 10; duration = 50; initialDepth = 455.830283; finalDepth = 456.284012; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:456.284012 # Seafloor depth:-496.284012 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 50.765818 meters # Minimum depth: 495.830283 meters looking forward 0.000000 meters along route # Maximum depth: 495.830283 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 455.830283 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.898217; longitude = -117.322584; captureRadius = 10; duration = 50; initialDepth = 456.038993; finalDepth = 455.830283; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:455.830283 # Seafloor depth:-495.830283 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 50.765818 meters # Minimum depth: 496.038993 meters looking forward 0.000000 meters along route # Maximum depth: 496.038993 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 456.038993 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.897713; longitude = -117.322312; captureRadius = 10; duration = 50; initialDepth = 456.437728; finalDepth = 456.038993; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:456.038993 # Seafloor depth:-496.038993 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 50.765818 meters # Minimum depth: 496.437728 meters looking forward 0.000000 meters along route # Maximum depth: 496.437728 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 456.437728 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.897270; longitude = -117.322073; captureRadius = 10; duration = 50; initialDepth = 451.833632; finalDepth = 456.437728; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:456.437728 # Seafloor depth:-496.437728 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 50.765818 meters # Minimum depth: 491.833632 meters looking forward 0.000000 meters along route # Maximum depth: 491.833632 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 451.833632 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.896729; longitude = -117.321781; captureRadius = 10; duration = 50; initialDepth = 445.035949; finalDepth = 451.833632; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:451.833632 # Seafloor depth:-491.833632 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 50.765818 meters # Minimum depth: 485.035949 meters looking forward 0.000000 meters along route # Maximum depth: 485.035949 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 445.035949 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.896228; longitude = -117.321511; captureRadius = 10; duration = 50; initialDepth = 441.755414; finalDepth = 445.035949; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:445.035949 # Seafloor depth:-485.035949 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 50.765818 meters # Minimum depth: 481.755414 meters looking forward 0.000000 meters along route # Maximum depth: 481.755414 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 441.755414 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.895781; longitude = -117.321270; captureRadius = 10; duration = 50; initialDepth = 438.011928; finalDepth = 441.755414; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:441.755414 # Seafloor depth:-481.755414 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 50.765818 meters # Minimum depth: 478.011928 meters looking forward 0.000000 meters along route # Maximum depth: 478.011928 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 438.011928 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.895240; longitude = -117.320978; captureRadius = 10; duration = 50; initialDepth = 436.571006; finalDepth = 438.011928; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:438.011928 # Seafloor depth:-478.011928 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 50.765818 meters # Minimum depth: 476.571006 meters looking forward 0.000000 meters along route # Maximum depth: 476.571006 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 436.571006 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.894699; longitude = -117.320686; captureRadius = 10; duration = 50; initialDepth = 436.868851; finalDepth = 436.571006; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:436.571006 # Seafloor depth:-476.571006 # 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 53 # Segment length 50.765818 meters # Minimum depth: 476.868851 meters looking forward 0.000000 meters along route # Maximum depth: 476.868851 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 436.868851 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.894248; longitude = -117.320443; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 434.726881; finalDepth = 436.868851; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:436.868851 # Seafloor depth:-476.868851 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 50.765818 meters # Minimum depth: 474.726881 meters looking forward 0.000000 meters along route # Maximum depth: 474.726881 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 434.726881 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.894158; longitude = -117.320373; captureRadius = 10; duration = 50; initialDepth = 431.855375; finalDepth = 434.726881; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:434.726881 # Seafloor depth:-474.726881 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 50.765818 meters # Minimum depth: 471.855375 meters looking forward 0.000000 meters along route # Maximum depth: 471.855375 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 431.855375 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.893752; longitude = -117.320058; captureRadius = 10; duration = 50; initialDepth = 430.768439; finalDepth = 431.855375; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:431.855375 # Seafloor depth:-471.855375 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 50.765818 meters # Minimum depth: 470.768439 meters looking forward 0.000000 meters along route # Maximum depth: 470.768439 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 430.768439 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.893346; longitude = -117.319743; captureRadius = 10; duration = 50; initialDepth = 423.631841; finalDepth = 430.768439; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:430.768439 # Seafloor depth:-470.768439 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 50.765818 meters # Minimum depth: 463.631841 meters looking forward 0.000000 meters along route # Maximum depth: 463.631841 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 423.631841 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.892940; longitude = -117.319428; captureRadius = 10; duration = 50; initialDepth = 431.126304; finalDepth = 423.631841; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:423.631841 # Seafloor depth:-463.631841 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 50.765818 meters # Minimum depth: 471.126304 meters looking forward 0.000000 meters along route # Maximum depth: 471.126304 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 431.126304 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.892527; longitude = -117.319107; captureRadius = 10; duration = 50; initialDepth = 438.332913; finalDepth = 431.126304; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:431.126304 # Seafloor depth:-471.126304 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 50.765818 meters # Minimum depth: 478.332913 meters looking forward 0.000000 meters along route # Maximum depth: 478.332913 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 438.332913 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.892114; longitude = -117.318787; captureRadius = 10; duration = 50; initialDepth = 434.531189; finalDepth = 438.332913; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:438.332913 # Seafloor depth:-478.332913 # 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 52 # Segment length 50.765818 meters # Minimum depth: 474.531189 meters looking forward 0.000000 meters along route # Maximum depth: 474.531189 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 434.531189 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.891632; longitude = -117.318413; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 436.120632; finalDepth = 434.531189; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:434.531189 # Seafloor depth:-474.531189 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 50.765818 meters # Minimum depth: 476.120632 meters looking forward 0.000000 meters along route # Maximum depth: 476.120632 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 436.120632 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.891316; longitude = -117.317964; captureRadius = 10; duration = 50; initialDepth = 429.194701; finalDepth = 436.120632; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:436.120632 # Seafloor depth:-476.120632 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 50.765818 meters # Minimum depth: 469.194701 meters looking forward 0.000000 meters along route # Maximum depth: 469.194701 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 429.194701 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.890993; longitude = -117.317505; captureRadius = 10; duration = 50; initialDepth = 424.145580; finalDepth = 429.194701; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:429.194701 # Seafloor depth:-469.194701 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 50.765818 meters # Minimum depth: 464.145580 meters looking forward 0.000000 meters along route # Maximum depth: 464.145580 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 424.145580 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.890640; longitude = -117.317003; captureRadius = 10; duration = 50; initialDepth = 422.813535; finalDepth = 424.145580; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:424.14558 # Seafloor depth:-464.145580 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 50.765818 meters # Minimum depth: 462.813535 meters looking forward 0.000000 meters along route # Maximum depth: 462.813535 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 422.813535 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.890316; longitude = -117.316544; captureRadius = 10; duration = 50; initialDepth = 414.990264; finalDepth = 422.813535; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:422.813535 # Seafloor depth:-462.813535 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 50.765818 meters # Minimum depth: 454.990264 meters looking forward 0.000000 meters along route # Maximum depth: 454.990264 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 414.990264 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.889963; longitude = -117.316042; captureRadius = 10; duration = 50; initialDepth = 413.254707; finalDepth = 414.990264; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:414.990264 # Seafloor depth:-454.990264 # 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 50.765818 meters # Minimum depth: 453.254707 meters looking forward 0.000000 meters along route # Maximum depth: 453.254707 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 413.254707 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.889602; longitude = -117.315529; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 409.719637; finalDepth = 413.254707; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:413.254707 # Seafloor depth:-453.254707 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 50.765818 meters # Minimum depth: 449.719637 meters looking forward 0.000000 meters along route # Maximum depth: 449.719637 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 409.719637 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.889472; longitude = -117.315102; captureRadius = 10; duration = 50; initialDepth = 411.182999; finalDepth = 409.719637; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:409.719637 # Seafloor depth:-449.719637 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 50.765818 meters # Minimum depth: 451.182999 meters looking forward 0.000000 meters along route # Maximum depth: 451.182999 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 411.182999 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.889286; longitude = -117.314489; captureRadius = 10; duration = 50; initialDepth = 413.442111; finalDepth = 411.182999; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:411.182999 # Seafloor depth:-451.182999 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 50.765818 meters # Minimum depth: 453.442111 meters looking forward 0.000000 meters along route # Maximum depth: 453.442111 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 413.442111 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.889132; longitude = -117.313980; captureRadius = 10; duration = 50; initialDepth = 408.066335; finalDepth = 413.442111; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:413.442111 # Seafloor depth:-453.442111 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 50.765818 meters # Minimum depth: 448.066335 meters looking forward 0.000000 meters along route # Maximum depth: 448.066335 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 408.066335 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.888938; longitude = -117.313339; captureRadius = 10; duration = 50; initialDepth = 404.320280; finalDepth = 408.066335; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:408.066335 # Seafloor depth:-448.066335 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 50.765818 meters # Minimum depth: 444.320280 meters looking forward 0.000000 meters along route # Maximum depth: 444.320280 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 404.320280 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.888743; longitude = -117.312698; captureRadius = 10; duration = 50; initialDepth = 402.446732; finalDepth = 404.320280; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:404.32028 # Seafloor depth:-444.320280 # 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 50.765818 meters # Minimum depth: 442.446732 meters looking forward 0.000000 meters along route # Maximum depth: 442.446732 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 402.446732 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.888565; longitude = -117.312111; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 400.441755; finalDepth = 402.446732; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:402.446732 # Seafloor depth:-442.446732 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 50.765818 meters # Minimum depth: 440.441755 meters looking forward 0.000000 meters along route # Maximum depth: 440.441755 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 400.441755 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.888881; longitude = -117.311710; captureRadius = 10; duration = 50; initialDepth = 396.983013; finalDepth = 400.441755; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:400.441755 # Seafloor depth:-440.441755 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 50.765818 meters # Minimum depth: 436.983013 meters looking forward 0.000000 meters along route # Maximum depth: 436.983013 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 396.983013 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.889286; longitude = -117.311193; captureRadius = 10; duration = 50; initialDepth = 395.351167; finalDepth = 396.983013; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:396.983013 # Seafloor depth:-436.983013 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 50.765818 meters # Minimum depth: 435.351167 meters looking forward 0.000000 meters along route # Maximum depth: 435.351167 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 395.351167 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.889615; longitude = -117.310775; captureRadius = 10; duration = 50; initialDepth = 394.029918; finalDepth = 395.351167; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:395.351167 # Seafloor depth:-435.351167 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 50.765818 meters # Minimum depth: 434.029918 meters looking forward 0.000000 meters along route # Maximum depth: 434.029918 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 394.029918 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.889993; longitude = -117.310295; captureRadius = 10; duration = 50; initialDepth = 392.908443; finalDepth = 394.029918; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:394.029918 # Seafloor depth:-434.029918 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 50.765818 meters # Minimum depth: 432.908443 meters looking forward 0.000000 meters along route # Maximum depth: 432.908443 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 392.908443 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.890371; longitude = -117.309814; captureRadius = 10; duration = 50; initialDepth = 391.087268; finalDepth = 392.908443; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:392.908443 # Seafloor depth:-432.908443 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 50.765818 meters # Minimum depth: 431.087268 meters looking forward 0.000000 meters along route # Maximum depth: 431.087268 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 391.087268 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.890775; longitude = -117.309300; captureRadius = 10; duration = 50; initialDepth = 387.219561; finalDepth = 391.087268; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:391.087268 # Seafloor depth:-431.087268 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 50.765818 meters # Minimum depth: 427.219561 meters looking forward 0.000000 meters along route # Maximum depth: 427.219561 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 387.219561 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.891181; longitude = -117.308783; captureRadius = 10; duration = 50; initialDepth = 385.389625; finalDepth = 387.219561; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:387.219561 # Seafloor depth:-427.219561 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 50.765818 meters # Minimum depth: 425.389625 meters looking forward 0.000000 meters along route # Maximum depth: 425.389625 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 385.389625 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.891504; longitude = -117.308372; captureRadius = 10; duration = 50; initialDepth = 384.790854; finalDepth = 385.389625; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:385.389625 # Seafloor depth:-425.389625 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 50.765818 meters # Minimum depth: 424.790854 meters looking forward 0.000000 meters along route # Maximum depth: 424.790854 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 384.790854 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.891882; longitude = -117.307891; captureRadius = 10; duration = 50; initialDepth = 382.968987; finalDepth = 384.790854; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:384.790854 # Seafloor depth:-424.790854 # 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 50.765818 meters # Minimum depth: 422.968987 meters looking forward 0.000000 meters along route # Maximum depth: 422.968987 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 382.968987 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.892218; longitude = -117.307464; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 381.537312; finalDepth = 382.968987; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:382.968987 # Seafloor depth:-422.968987 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 50.765818 meters # Minimum depth: 421.537312 meters looking forward 0.000000 meters along route # Maximum depth: 421.537312 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 381.537312 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.892325; longitude = -117.307250; captureRadius = 10; duration = 50; initialDepth = 378.159024; finalDepth = 381.537312; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:381.537312 # Seafloor depth:-421.537312 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 50.765818 meters # Minimum depth: 418.159024 meters looking forward 0.000000 meters along route # Maximum depth: 418.159024 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 378.159024 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.892566; longitude = -117.306769; captureRadius = 10; duration = 50; initialDepth = 377.826382; finalDepth = 378.159024; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:378.159024 # Seafloor depth:-418.159024 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 50.765818 meters # Minimum depth: 417.826382 meters looking forward 0.000000 meters along route # Maximum depth: 417.826382 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 377.826382 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.892807; longitude = -117.306289; captureRadius = 10; duration = 50; initialDepth = 377.162850; finalDepth = 377.826382; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:377.826382 # Seafloor depth:-417.826382 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 50.765818 meters # Minimum depth: 417.162850 meters looking forward 0.000000 meters along route # Maximum depth: 417.162850 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 377.162850 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.893048; longitude = -117.305808; captureRadius = 10; duration = 50; initialDepth = 376.133959; finalDepth = 377.162850; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:377.16285 # Seafloor depth:-417.162850 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 50.765818 meters # Minimum depth: 416.133959 meters looking forward 0.000000 meters along route # Maximum depth: 416.133959 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 376.133959 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.893289; longitude = -117.305327; captureRadius = 10; duration = 50; initialDepth = 374.683804; finalDepth = 376.133959; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:376.133959 # Seafloor depth:-416.133959 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 50.765818 meters # Minimum depth: 414.683804 meters looking forward 0.000000 meters along route # Maximum depth: 414.683804 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 374.683804 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.893530; longitude = -117.304847; captureRadius = 10; duration = 50; initialDepth = 365.156255; finalDepth = 374.683804; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:374.683804 # Seafloor depth:-414.683804 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 50.765818 meters # Minimum depth: 405.156255 meters looking forward 0.000000 meters along route # Maximum depth: 405.156255 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 365.156255 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.893771; longitude = -117.304366; captureRadius = 10; duration = 50; initialDepth = 355.789443; finalDepth = 365.156255; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:365.156255 # Seafloor depth:-405.156255 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 50.765818 meters # Minimum depth: 395.789443 meters looking forward 0.000000 meters along route # Maximum depth: 395.789443 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 355.789443 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.894022; longitude = -117.303865; captureRadius = 10; duration = 50; initialDepth = 353.267075; finalDepth = 355.789443; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:355.789443 # Seafloor depth:-395.789443 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 50.765818 meters # Minimum depth: 393.267075 meters looking forward 0.000000 meters along route # Maximum depth: 393.267075 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 353.267075 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.894253; longitude = -117.303404; captureRadius = 10; duration = 50; initialDepth = 351.018645; finalDepth = 353.267075; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:353.267075 # Seafloor depth:-393.267075 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 50.765818 meters # Minimum depth: 391.018645 meters looking forward 0.000000 meters along route # Maximum depth: 391.018645 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 351.018645 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.894494; longitude = -117.302924; captureRadius = 10; duration = 50; initialDepth = 348.789139; finalDepth = 351.018645; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:351.018645 # Seafloor depth:-391.018645 # 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 50.765818 meters # Minimum depth: 388.789139 meters looking forward 0.000000 meters along route # Maximum depth: 388.789139 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 348.789139 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.894789; longitude = -117.302336; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 347.991650; finalDepth = 348.789139; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:348.789139 # Seafloor depth:-388.789139 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 50.765818 meters # Minimum depth: 387.991650 meters looking forward 0.000000 meters along route # Maximum depth: 387.991650 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 347.991650 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.894727; longitude = -117.301962; captureRadius = 10; duration = 50; initialDepth = 348.472642; finalDepth = 347.991650; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:347.99165 # Seafloor depth:-387.991650 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 50.765818 meters # Minimum depth: 388.472642 meters looking forward 0.000000 meters along route # Maximum depth: 388.472642 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 348.472642 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.894622; longitude = -117.301321; captureRadius = 10; duration = 50; initialDepth = 351.239964; finalDepth = 348.472642; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:348.472642 # Seafloor depth:-388.472642 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 50.765818 meters # Minimum depth: 391.239964 meters looking forward 0.000000 meters along route # Maximum depth: 391.239964 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 351.239964 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.894516; longitude = -117.300681; captureRadius = 10; duration = 50; initialDepth = 352.807610; finalDepth = 351.239964; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:351.239964 # Seafloor depth:-391.239964 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 50.765818 meters # Minimum depth: 392.807610 meters looking forward 0.000000 meters along route # Maximum depth: 392.807610 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 352.807610 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.894428; longitude = -117.300146; captureRadius = 10; duration = 50; initialDepth = 353.133873; finalDepth = 352.807610; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:352.80761 # Seafloor depth:-392.807610 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 50.765818 meters # Minimum depth: 393.133873 meters looking forward 0.000000 meters along route # Maximum depth: 393.133873 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 353.133873 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.894332; longitude = -117.299559; captureRadius = 10; duration = 50; initialDepth = 352.047049; finalDepth = 353.133873; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:353.133873 # Seafloor depth:-393.133873 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 50.765818 meters # Minimum depth: 392.047049 meters looking forward 0.000000 meters along route # Maximum depth: 392.047049 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 352.047049 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.894226; longitude = -117.298918; captureRadius = 10; duration = 50; initialDepth = 351.386804; finalDepth = 352.047049; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:352.047049 # Seafloor depth:-392.047049 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 50.765818 meters # Minimum depth: 391.386804 meters looking forward 0.000000 meters along route # Maximum depth: 391.386804 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 351.386804 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.894120; longitude = -117.298277; captureRadius = 10; duration = 50; initialDepth = 350.229690; finalDepth = 351.386804; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:351.386804 # Seafloor depth:-391.386804 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 50.765818 meters # Minimum depth: 390.229690 meters looking forward 0.000000 meters along route # Maximum depth: 390.229690 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 350.229690 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.894015; longitude = -117.297636; captureRadius = 10; duration = 50; initialDepth = 349.871437; finalDepth = 350.229690; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:350.22969 # Seafloor depth:-390.229690 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 50.765818 meters # Minimum depth: 389.871437 meters looking forward 0.000000 meters along route # Maximum depth: 389.871437 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 349.871437 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.893909; longitude = -117.296995; captureRadius = 10; duration = 50; initialDepth = 362.188458; finalDepth = 349.871437; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:349.871437 # Seafloor depth:-389.871437 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 50.765818 meters # Minimum depth: 402.188458 meters looking forward 0.000000 meters along route # Maximum depth: 402.188458 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 362.188458 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.893804; longitude = -117.296354; captureRadius = 10; duration = 50; initialDepth = 362.467049; finalDepth = 362.188458; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:362.188458 # Seafloor depth:-402.188458 # 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 50.765818 meters # Minimum depth: 402.467049 meters looking forward 0.000000 meters along route # Maximum depth: 402.467049 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 362.467049 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.893707; longitude = -117.295767; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 362.164493; finalDepth = 362.467049; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:362.467049 # Seafloor depth:-402.467049 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 50.765818 meters # Minimum depth: 402.164493 meters looking forward 0.000000 meters along route # Maximum depth: 402.164493 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 362.164493 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.893644; longitude = -117.295713; captureRadius = 10; duration = 50; initialDepth = 362.359287; finalDepth = 362.164493; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:362.164493 # Seafloor depth:-402.164493 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 50.765818 meters # Minimum depth: 402.359287 meters looking forward 0.000000 meters along route # Maximum depth: 402.359287 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 362.359287 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.893266; longitude = -117.295393; captureRadius = 10; duration = 50; initialDepth = 361.216882; finalDepth = 362.359287; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:362.359287 # Seafloor depth:-402.359287 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 50.765818 meters # Minimum depth: 401.216882 meters looking forward 0.000000 meters along route # Maximum depth: 401.216882 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 361.216882 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.892888; longitude = -117.295072; captureRadius = 10; duration = 50; initialDepth = 359.342773; finalDepth = 361.216882; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:361.216882 # Seafloor depth:-401.216882 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 50.765818 meters # Minimum depth: 399.342773 meters looking forward 0.000000 meters along route # Maximum depth: 399.342773 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 359.342773 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.892511; longitude = -117.294752; captureRadius = 10; duration = 50; initialDepth = 357.172024; finalDepth = 359.342773; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:359.342773 # Seafloor depth:-399.342773 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 50.765818 meters # Minimum depth: 397.172024 meters looking forward 0.000000 meters along route # Maximum depth: 397.172024 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 357.172024 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.892128; longitude = -117.294427; captureRadius = 10; duration = 50; initialDepth = 355.736982; finalDepth = 357.172024; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:357.172024 # Seafloor depth:-397.172024 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 50.765818 meters # Minimum depth: 395.736982 meters looking forward 0.000000 meters along route # Maximum depth: 395.736982 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 355.736982 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.891755; longitude = -117.294111; captureRadius = 10; duration = 50; initialDepth = 354.290565; finalDepth = 355.736982; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:355.736982 # Seafloor depth:-395.736982 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 50.765818 meters # Minimum depth: 394.290565 meters looking forward 0.000000 meters along route # Maximum depth: 394.290565 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 354.290565 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.891378; longitude = -117.293790; captureRadius = 10; duration = 50; initialDepth = 354.540900; finalDepth = 354.290565; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:354.290565 # Seafloor depth:-394.290565 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 50.765818 meters # Minimum depth: 394.540900 meters looking forward 0.000000 meters along route # Maximum depth: 394.540900 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 354.540900 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.891000; longitude = -117.293470; captureRadius = 10; duration = 50; initialDepth = 353.766468; finalDepth = 354.540900; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:354.5409 # Seafloor depth:-394.540900 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 50.765818 meters # Minimum depth: 393.766468 meters looking forward 0.000000 meters along route # Maximum depth: 393.766468 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 353.766468 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.890622; longitude = -117.293150; captureRadius = 10; duration = 50; initialDepth = 352.439310; finalDepth = 353.766468; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:353.766468 # Seafloor depth:-393.766468 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 50.765818 meters # Minimum depth: 392.439310 meters looking forward 0.000000 meters along route # Maximum depth: 392.439310 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 352.439310 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.890234; longitude = -117.292820; captureRadius = 10; duration = 50; initialDepth = 351.636988; finalDepth = 352.439310; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:352.43931 # Seafloor depth:-392.439310 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 50.765818 meters # Minimum depth: 391.636988 meters looking forward 0.000000 meters along route # Maximum depth: 391.636988 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 351.636988 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.889867; longitude = -117.292509; captureRadius = 10; duration = 50; initialDepth = 352.051136; finalDepth = 351.636988; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:351.636988 # Seafloor depth:-391.636988 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 50.765818 meters # Minimum depth: 392.051136 meters looking forward 0.000000 meters along route # Maximum depth: 392.051136 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 352.051136 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.889489; longitude = -117.292188; captureRadius = 10; duration = 50; initialDepth = 351.464192; finalDepth = 352.051136; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:352.051136 # Seafloor depth:-392.051136 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 50.765818 meters # Minimum depth: 391.464192 meters looking forward 0.000000 meters along route # Maximum depth: 391.464192 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 351.464192 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.889111; longitude = -117.291868; captureRadius = 10; duration = 50; initialDepth = 350.844729; finalDepth = 351.464192; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:351.464192 # Seafloor depth:-391.464192 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 50.765818 meters # Minimum depth: 390.844729 meters looking forward 0.000000 meters along route # Maximum depth: 390.844729 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 350.844729 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.888734; longitude = -117.291547; captureRadius = 10; duration = 50; initialDepth = 349.256017; finalDepth = 350.844729; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:350.844729 # Seafloor depth:-390.844729 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 50.765818 meters # Minimum depth: 389.256017 meters looking forward 0.000000 meters along route # Maximum depth: 389.256017 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 349.256017 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.888356; longitude = -117.291227; captureRadius = 10; duration = 50; initialDepth = 343.510173; finalDepth = 349.256017; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:349.256017 # Seafloor depth:-389.256017 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 50.765818 meters # Minimum depth: 383.510173 meters looking forward 0.000000 meters along route # Maximum depth: 383.510173 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 343.510173 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.887978; longitude = -117.290906; captureRadius = 10; duration = 50; initialDepth = 338.775936; finalDepth = 343.510173; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:343.510173 # Seafloor depth:-383.510173 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 50.765818 meters # Minimum depth: 378.775936 meters looking forward 0.000000 meters along route # Maximum depth: 378.775936 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 338.775936 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.887601; longitude = -117.290586; captureRadius = 10; duration = 50; initialDepth = 335.990484; finalDepth = 338.775936; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:338.775936 # Seafloor depth:-378.775936 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 50.765818 meters # Minimum depth: 375.990484 meters looking forward 0.000000 meters along route # Maximum depth: 375.990484 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 335.990484 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.887223; longitude = -117.290265; captureRadius = 10; duration = 50; initialDepth = 333.058604; finalDepth = 335.990484; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:335.990484 # Seafloor depth:-375.990484 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 50.765818 meters # Minimum depth: 373.058604 meters looking forward 0.000000 meters along route # Maximum depth: 373.058604 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 333.058604 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.886845; longitude = -117.289945; captureRadius = 10; duration = 50; initialDepth = 331.571360; finalDepth = 333.058604; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:333.058604 # Seafloor depth:-373.058604 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 50.765818 meters # Minimum depth: 371.571360 meters looking forward 0.000000 meters along route # Maximum depth: 371.571360 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 331.571360 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.886468; longitude = -117.289624; captureRadius = 10; duration = 50; initialDepth = 329.551000; finalDepth = 331.571360; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:331.57136 # Seafloor depth:-371.571360 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 50.765818 meters # Minimum depth: 369.551000 meters looking forward 0.000000 meters along route # Maximum depth: 369.551000 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 329.551000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.886090; longitude = -117.289304; captureRadius = 10; duration = 50; initialDepth = 328.433013; finalDepth = 329.551000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:329.551 # Seafloor depth:-369.551000 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 50.765818 meters # Minimum depth: 368.433013 meters looking forward 0.000000 meters along route # Maximum depth: 368.433013 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 328.433013 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.885712; longitude = -117.288983; captureRadius = 10; duration = 50; initialDepth = 328.084663; finalDepth = 328.433013; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:328.433013 # Seafloor depth:-368.433013 # 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 50.765818 meters # Minimum depth: 368.084663 meters looking forward 0.000000 meters along route # Maximum depth: 368.084663 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 328.084663 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.885272; longitude = -117.288610; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 326.481841; finalDepth = 328.084663; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:328.084663 # Seafloor depth:-368.084663 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 50.765818 meters # Minimum depth: 366.481841 meters looking forward 0.000000 meters along route # Maximum depth: 366.481841 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 326.481841 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.885092; longitude = -117.288994; captureRadius = 10; duration = 50; initialDepth = 327.119844; finalDepth = 326.481841; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:326.481841 # Seafloor depth:-366.481841 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 50.765818 meters # Minimum depth: 367.119844 meters looking forward 0.000000 meters along route # Maximum depth: 367.119844 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 327.119844 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.884821; longitude = -117.289572; captureRadius = 10; duration = 50; initialDepth = 329.545601; finalDepth = 327.119844; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:327.119844 # Seafloor depth:-367.119844 # 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 50.765818 meters # Minimum depth: 369.545601 meters looking forward 0.000000 meters along route # Maximum depth: 369.545601 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 329.545601 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.884596; longitude = -117.290052; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 329.874423; finalDepth = 329.545601; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:329.545601 # Seafloor depth:-369.545601 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 50.765818 meters # Minimum depth: 369.874423 meters looking forward 0.000000 meters along route # Maximum depth: 369.874423 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 329.874423 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.884659; longitude = -117.290105; captureRadius = 10; duration = 50; initialDepth = 331.067386; finalDepth = 329.874423; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:329.874423 # Seafloor depth:-369.874423 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 50.765818 meters # Minimum depth: 371.067386 meters looking forward 0.000000 meters along route # Maximum depth: 371.067386 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 331.067386 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.885041; longitude = -117.290426; captureRadius = 10; duration = 50; initialDepth = 331.340346; finalDepth = 331.067386; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:331.067386 # Seafloor depth:-371.067386 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 50.765818 meters # Minimum depth: 371.340346 meters looking forward 0.000000 meters along route # Maximum depth: 371.340346 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 331.340346 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.885422; longitude = -117.290746; captureRadius = 10; duration = 50; initialDepth = 330.598567; finalDepth = 331.340346; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:331.340346 # Seafloor depth:-371.340346 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 50.765818 meters # Minimum depth: 370.598567 meters looking forward 0.000000 meters along route # Maximum depth: 370.598567 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 330.598567 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.885804; longitude = -117.291066; captureRadius = 10; duration = 50; initialDepth = 331.060954; finalDepth = 330.598567; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:330.598567 # Seafloor depth:-370.598567 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 50.765818 meters # Minimum depth: 371.060954 meters looking forward 0.000000 meters along route # Maximum depth: 371.060954 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 331.060954 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.886185; longitude = -117.291387; captureRadius = 10; duration = 50; initialDepth = 332.588291; finalDepth = 331.060954; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:331.060954 # Seafloor depth:-371.060954 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 50.765818 meters # Minimum depth: 372.588291 meters looking forward 0.000000 meters along route # Maximum depth: 372.588291 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 332.588291 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.886580; longitude = -117.291719; captureRadius = 10; duration = 50; initialDepth = 333.198634; finalDepth = 332.588291; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:332.588291 # Seafloor depth:-372.588291 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 50.765818 meters # Minimum depth: 373.198634 meters looking forward 0.000000 meters along route # Maximum depth: 373.198634 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 333.198634 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.886949; longitude = -117.292028; captureRadius = 10; duration = 50; initialDepth = 333.241615; finalDepth = 333.198634; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:333.198634 # Seafloor depth:-373.198634 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 50.765818 meters # Minimum depth: 373.241615 meters looking forward 0.000000 meters along route # Maximum depth: 373.241615 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 333.241615 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.887330; longitude = -117.292348; captureRadius = 10; duration = 50; initialDepth = 332.929502; finalDepth = 333.241615; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:333.241615 # Seafloor depth:-373.241615 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 50.765818 meters # Minimum depth: 372.929502 meters looking forward 0.000000 meters along route # Maximum depth: 372.929502 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 332.929502 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.887712; longitude = -117.292669; captureRadius = 10; duration = 50; initialDepth = 334.056020; finalDepth = 332.929502; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:332.929502 # Seafloor depth:-372.929502 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 50.765818 meters # Minimum depth: 374.056020 meters looking forward 0.000000 meters along route # Maximum depth: 374.056020 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 334.056020 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.888093; longitude = -117.292989; captureRadius = 10; duration = 50; initialDepth = 335.059844; finalDepth = 334.056020; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:334.05602 # Seafloor depth:-374.056020 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 50.765818 meters # Minimum depth: 375.059844 meters looking forward 0.000000 meters along route # Maximum depth: 375.059844 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 335.059844 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.888475; longitude = -117.293310; captureRadius = 10; duration = 50; initialDepth = 334.888397; finalDepth = 335.059844; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:335.059844 # Seafloor depth:-375.059844 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 50.765818 meters # Minimum depth: 374.888397 meters looking forward 0.000000 meters along route # Maximum depth: 374.888397 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 334.888397 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.888856; longitude = -117.293630; captureRadius = 10; duration = 50; initialDepth = 332.019471; finalDepth = 334.888397; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:334.888397 # Seafloor depth:-374.888397 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 50.765818 meters # Minimum depth: 372.019471 meters looking forward 0.000000 meters along route # Maximum depth: 372.019471 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 332.019471 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.889238; longitude = -117.293951; captureRadius = 10; duration = 50; initialDepth = 331.527174; finalDepth = 332.019471; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:332.019471 # Seafloor depth:-372.019471 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 50.765818 meters # Minimum depth: 371.527174 meters looking forward 0.000000 meters along route # Maximum depth: 371.527174 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 331.527174 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.889619; longitude = -117.294271; captureRadius = 10; duration = 50; initialDepth = 335.606908; finalDepth = 331.527174; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:331.527174 # Seafloor depth:-371.527174 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 50.765818 meters # Minimum depth: 375.606908 meters looking forward 0.000000 meters along route # Maximum depth: 375.606908 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 335.606908 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.890001; longitude = -117.294592; captureRadius = 10; duration = 50; initialDepth = 332.030855; finalDepth = 335.606908; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:335.606908 # Seafloor depth:-375.606908 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 50.765818 meters # Minimum depth: 372.030855 meters looking forward 0.000000 meters along route # Maximum depth: 372.030855 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 332.030855 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.890382; longitude = -117.294912; captureRadius = 10; duration = 50; initialDepth = 333.405274; finalDepth = 332.030855; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:332.030855 # Seafloor depth:-372.030855 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 50.765818 meters # Minimum depth: 373.405274 meters looking forward 0.000000 meters along route # Maximum depth: 373.405274 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 333.405274 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.890775; longitude = -117.295242; captureRadius = 10; duration = 50; initialDepth = 331.455151; finalDepth = 333.405274; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:333.405274 # Seafloor depth:-373.405274 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 50.765818 meters # Minimum depth: 371.455151 meters looking forward 0.000000 meters along route # Maximum depth: 371.455151 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 331.455151 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.891146; longitude = -117.295553; captureRadius = 10; duration = 50; initialDepth = 334.710671; finalDepth = 331.455151; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:331.455151 # Seafloor depth:-371.455151 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 50.765818 meters # Minimum depth: 374.710671 meters looking forward 0.000000 meters along route # Maximum depth: 374.710671 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 334.710671 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.891527; longitude = -117.295873; captureRadius = 10; duration = 50; initialDepth = 334.746785; finalDepth = 334.710671; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:334.710671 # Seafloor depth:-374.710671 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 50.765818 meters # Minimum depth: 374.746785 meters looking forward 0.000000 meters along route # Maximum depth: 374.746785 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 334.746785 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.891909; longitude = -117.296194; captureRadius = 10; duration = 50; initialDepth = 337.082573; finalDepth = 334.746785; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:334.746785 # Seafloor depth:-374.746785 # 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 50.765818 meters # Minimum depth: 377.082573 meters looking forward 0.000000 meters along route # Maximum depth: 377.082573 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 337.082573 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.892354; longitude = -117.296568; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 337.625672; finalDepth = 337.082573; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:337.082573 # Seafloor depth:-377.082573 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 50.765818 meters # Minimum depth: 377.625672 meters looking forward 0.000000 meters along route # Maximum depth: 377.625672 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 337.625672 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.892374; longitude = -117.296675; captureRadius = 10; duration = 50; initialDepth = 339.882111; finalDepth = 337.625672; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:337.625672 # Seafloor depth:-377.625672 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 50.765818 meters # Minimum depth: 379.882111 meters looking forward 0.000000 meters along route # Maximum depth: 379.882111 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 339.882111 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.892494; longitude = -117.297316; captureRadius = 10; duration = 50; initialDepth = 339.414173; finalDepth = 339.882111; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:339.882111 # Seafloor depth:-379.882111 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 50.765818 meters # Minimum depth: 379.414173 meters looking forward 0.000000 meters along route # Maximum depth: 379.414173 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 339.414173 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.892614; longitude = -117.297957; captureRadius = 10; duration = 50; initialDepth = 341.322837; finalDepth = 339.414173; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:339.414173 # Seafloor depth:-379.414173 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 50.765818 meters # Minimum depth: 381.322837 meters looking forward 0.000000 meters along route # Maximum depth: 381.322837 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 341.322837 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.892735; longitude = -117.298597; captureRadius = 10; duration = 50; initialDepth = 344.433425; finalDepth = 341.322837; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:341.322837 # Seafloor depth:-381.322837 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 50.765818 meters # Minimum depth: 384.433425 meters looking forward 0.000000 meters along route # Maximum depth: 384.433425 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 344.433425 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.892855; longitude = -117.299238; captureRadius = 10; duration = 50; initialDepth = 347.624138; finalDepth = 344.433425; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:344.433425 # Seafloor depth:-384.433425 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 50.765818 meters # Minimum depth: 387.624138 meters looking forward 0.000000 meters along route # Maximum depth: 387.624138 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 347.624138 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.892975; longitude = -117.299879; captureRadius = 10; duration = 50; initialDepth = 349.929539; finalDepth = 347.624138; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:347.624138 # Seafloor depth:-387.624138 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 50.765818 meters # Minimum depth: 389.929539 meters looking forward 0.000000 meters along route # Maximum depth: 389.929539 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 349.929539 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.893095; longitude = -117.300520; captureRadius = 10; duration = 50; initialDepth = 351.657370; finalDepth = 349.929539; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:349.929539 # Seafloor depth:-389.929539 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 50.765818 meters # Minimum depth: 391.657370 meters looking forward 0.000000 meters along route # Maximum depth: 391.657370 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 351.657370 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.893216; longitude = -117.301161; captureRadius = 10; duration = 50; initialDepth = 351.991462; finalDepth = 351.657370; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:351.65737 # Seafloor depth:-391.657370 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 50.765818 meters # Minimum depth: 391.991462 meters looking forward 0.000000 meters along route # Maximum depth: 391.991462 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 351.991462 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.893336; longitude = -117.301802; captureRadius = 10; duration = 50; initialDepth = 353.581047; finalDepth = 351.991462; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:351.991462 # Seafloor depth:-391.991462 # 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 50.765818 meters # Minimum depth: 393.581047 meters looking forward 0.000000 meters along route # Maximum depth: 393.581047 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 353.581047 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.893436; longitude = -117.302336; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 353.716058; finalDepth = 353.581047; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:353.581047 # Seafloor depth:-393.581047 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 50.765818 meters # Minimum depth: 393.716058 meters looking forward 0.000000 meters along route # Maximum depth: 393.716058 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 353.716058 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.893287; longitude = -117.302603; captureRadius = 10; duration = 50; initialDepth = 352.514940; finalDepth = 353.716058; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:353.716058 # Seafloor depth:-393.716058 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 50.765818 meters # Minimum depth: 392.514940 meters looking forward 0.000000 meters along route # Maximum depth: 392.514940 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 352.514940 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.893020; longitude = -117.303084; captureRadius = 10; duration = 50; initialDepth = 353.383437; finalDepth = 352.514940; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:352.51494 # Seafloor depth:-392.514940 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 50.765818 meters # Minimum depth: 393.383437 meters looking forward 0.000000 meters along route # Maximum depth: 393.383437 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 353.383437 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.892753; longitude = -117.303565; captureRadius = 10; duration = 50; initialDepth = 356.605007; finalDepth = 353.383437; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:353.383437 # Seafloor depth:-393.383437 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 50.765818 meters # Minimum depth: 396.605007 meters looking forward 0.000000 meters along route # Maximum depth: 396.605007 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 356.605007 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.892486; longitude = -117.304045; captureRadius = 10; duration = 50; initialDepth = 361.079263; finalDepth = 356.605007; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:356.605007 # Seafloor depth:-396.605007 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 50.765818 meters # Minimum depth: 401.079263 meters looking forward 0.000000 meters along route # Maximum depth: 401.079263 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 361.079263 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.892219; longitude = -117.304526; captureRadius = 10; duration = 50; initialDepth = 366.217820; finalDepth = 361.079263; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:361.079263 # Seafloor depth:-401.079263 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 50.765818 meters # Minimum depth: 406.217820 meters looking forward 0.000000 meters along route # Maximum depth: 406.217820 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 366.217820 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.891952; longitude = -117.305007; captureRadius = 10; duration = 50; initialDepth = 372.702157; finalDepth = 366.217820; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:366.21782 # Seafloor depth:-406.217820 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 50.765818 meters # Minimum depth: 412.702157 meters looking forward 0.000000 meters along route # Maximum depth: 412.702157 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 372.702157 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.891685; longitude = -117.305488; captureRadius = 10; duration = 50; initialDepth = 376.950717; finalDepth = 372.702157; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:372.702157 # Seafloor depth:-412.702157 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 50.765818 meters # Minimum depth: 416.950717 meters looking forward 0.000000 meters along route # Maximum depth: 416.950717 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 376.950717 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.891418; longitude = -117.305968; captureRadius = 10; duration = 50; initialDepth = 379.594978; finalDepth = 376.950717; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:376.950717 # Seafloor depth:-416.950717 # 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 50.765818 meters # Minimum depth: 419.594978 meters looking forward 0.000000 meters along route # Maximum depth: 419.594978 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 379.594978 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.891091; longitude = -117.306556; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 381.355038; finalDepth = 379.594978; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:379.594978 # Seafloor depth:-419.594978 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.765818 meters # Minimum depth: 421.355038 meters looking forward 0.000000 meters along route # Maximum depth: 421.355038 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 381.355038 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.890910; longitude = -117.306807; captureRadius = 10; duration = 50; initialDepth = 381.429267; finalDepth = 381.355038; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:381.355038 # Seafloor depth:-421.355038 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.765818 meters # Minimum depth: 421.429267 meters looking forward 0.000000 meters along route # Maximum depth: 421.429267 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 381.429267 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.890591; longitude = -117.307250; captureRadius = 10; duration = 50; initialDepth = 382.959190; finalDepth = 381.429267; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:381.429267 # Seafloor depth:-421.429267 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.765818 meters # Minimum depth: 422.959190 meters looking forward 0.000000 meters along route # Maximum depth: 422.959190 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 382.959190 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.890234; longitude = -117.307746; captureRadius = 10; duration = 50; initialDepth = 382.957549; finalDepth = 382.959190; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:382.95919 # Seafloor depth:-422.959190 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.765818 meters # Minimum depth: 422.957549 meters looking forward 0.000000 meters along route # Maximum depth: 422.957549 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 382.957549 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.889899; longitude = -117.308211; captureRadius = 10; duration = 50; initialDepth = 382.113030; finalDepth = 382.957549; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:382.957549 # Seafloor depth:-422.957549 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.765818 meters # Minimum depth: 422.113030 meters looking forward 0.000000 meters along route # Maximum depth: 422.113030 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 382.113030 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.889552; longitude = -117.308692; captureRadius = 10; duration = 50; initialDepth = 385.239019; finalDepth = 382.113030; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:382.11303 # Seafloor depth:-422.113030 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.765818 meters # Minimum depth: 425.239019 meters looking forward 0.000000 meters along route # Maximum depth: 425.239019 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 385.239019 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.889206; longitude = -117.309173; captureRadius = 10; duration = 50; initialDepth = 385.966727; finalDepth = 385.239019; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:385.239019 # Seafloor depth:-425.239019 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.765818 meters # Minimum depth: 425.966727 meters looking forward 0.000000 meters along route # Maximum depth: 425.966727 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 385.966727 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.888860; longitude = -117.309654; captureRadius = 10; duration = 50; initialDepth = 388.291466; finalDepth = 385.966727; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:385.966727 # Seafloor depth:-425.966727 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.765818 meters # Minimum depth: 428.291466 meters looking forward 0.000000 meters along route # Maximum depth: 428.291466 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 388.291466 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.888475; longitude = -117.310189; captureRadius = 10; duration = 50; initialDepth = 389.298292; finalDepth = 388.291466; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:388.291466 # Seafloor depth:-428.291466 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.765818 meters # Minimum depth: 429.298292 meters looking forward 0.000000 meters along route # Maximum depth: 429.298292 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 389.298292 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.888167; longitude = -117.310615; captureRadius = 10; duration = 50; initialDepth = 393.001246; finalDepth = 389.298292; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:389.298292 # Seafloor depth:-429.298292 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.765818 meters # Minimum depth: 433.001246 meters looking forward 0.000000 meters along route # Maximum depth: 433.001246 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 393.001246 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.887798; longitude = -117.311128; captureRadius = 10; duration = 50; initialDepth = 394.098350; finalDepth = 393.001246; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:393.001246 # Seafloor depth:-433.001246 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.765818 meters # Minimum depth: 434.098350 meters looking forward 0.000000 meters along route # Maximum depth: 434.098350 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 394.098350 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.887475; longitude = -117.311576; captureRadius = 10; duration = 50; initialDepth = 397.687492; finalDepth = 394.098350; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:394.09835 # Seafloor depth:-434.098350 # 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 50.765818 meters # Minimum depth: 437.687492 meters looking forward 0.000000 meters along route # Maximum depth: 437.687492 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 397.687492 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.887167; longitude = -117.312004; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 398.879090; finalDepth = 397.687492; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:397.687492 # Seafloor depth:-437.687492 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.765818 meters # Minimum depth: 438.879090 meters looking forward 0.000000 meters along route # Maximum depth: 438.879090 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 398.879090 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.887285; longitude = -117.312378; captureRadius = 10; duration = 50; initialDepth = 403.792412; finalDepth = 398.879090; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:398.87909 # Seafloor depth:-438.879090 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.765818 meters # Minimum depth: 443.792412 meters looking forward 0.000000 meters along route # Maximum depth: 443.792412 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 403.792412 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.887487; longitude = -117.313018; captureRadius = 10; duration = 50; initialDepth = 405.196322; finalDepth = 403.792412; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:403.792412 # Seafloor depth:-443.792412 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.765818 meters # Minimum depth: 445.196322 meters looking forward 0.000000 meters along route # Maximum depth: 445.196322 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 405.196322 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.887663; longitude = -117.313576; captureRadius = 10; duration = 50; initialDepth = 409.257277; finalDepth = 405.196322; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:405.196322 # Seafloor depth:-445.196322 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.765818 meters # Minimum depth: 449.257277 meters looking forward 0.000000 meters along route # Maximum depth: 449.257277 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 409.257277 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.887841; longitude = -117.314140; captureRadius = 10; duration = 50; initialDepth = 418.696635; finalDepth = 409.257277; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:409.257277 # Seafloor depth:-449.257277 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.765818 meters # Minimum depth: 458.696635 meters looking forward 0.000000 meters along route # Maximum depth: 458.696635 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 418.696635 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.888043; longitude = -117.314781; captureRadius = 10; duration = 50; initialDepth = 417.316082; finalDepth = 418.696635; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:418.696635 # Seafloor depth:-458.696635 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.765818 meters # Minimum depth: 457.316082 meters looking forward 0.000000 meters along route # Maximum depth: 457.316082 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 417.316082 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.888204; longitude = -117.315292; captureRadius = 10; duration = 50; initialDepth = 412.814419; finalDepth = 417.316082; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:417.316082 # Seafloor depth:-457.316082 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.765818 meters # Minimum depth: 452.814419 meters looking forward 0.000000 meters along route # Maximum depth: 452.814419 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 412.814419 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.888397; longitude = -117.315903; captureRadius = 10; duration = 50; initialDepth = 418.097755; finalDepth = 412.814419; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:412.814419 # Seafloor depth:-452.814419 # 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 50.765818 meters # Minimum depth: 458.097755 meters looking forward 0.000000 meters along route # Maximum depth: 458.097755 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 418.097755 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.888565; longitude = -117.316437; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 423.141266; finalDepth = 418.097755; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:418.097755 # Seafloor depth:-458.097755 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.765818 meters # Minimum depth: 463.141266 meters looking forward 0.000000 meters along route # Maximum depth: 463.141266 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 423.141266 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.888891; longitude = -117.316864; captureRadius = 10; duration = 50; initialDepth = 422.862204; finalDepth = 423.141266; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:423.141266 # Seafloor depth:-463.141266 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.765818 meters # Minimum depth: 462.862204 meters looking forward 0.000000 meters along route # Maximum depth: 462.862204 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 422.862204 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.889286; longitude = -117.317381; captureRadius = 10; duration = 50; initialDepth = 434.023082; finalDepth = 422.862204; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:422.862204 # Seafloor depth:-462.862204 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.765818 meters # Minimum depth: 474.023082 meters looking forward 0.000000 meters along route # Maximum depth: 474.023082 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 434.023082 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.889626; longitude = -117.317826; captureRadius = 10; duration = 50; initialDepth = 435.385755; finalDepth = 434.023082; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:434.023082 # Seafloor depth:-474.023082 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.765818 meters # Minimum depth: 475.385755 meters looking forward 0.000000 meters along route # Maximum depth: 475.385755 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 435.385755 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.889993; longitude = -117.318306; captureRadius = 10; duration = 50; initialDepth = 441.887827; finalDepth = 435.385755; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:435.385755 # Seafloor depth:-475.385755 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.765818 meters # Minimum depth: 481.887827 meters looking forward 0.000000 meters along route # Maximum depth: 481.887827 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 441.887827 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.890369; longitude = -117.318798; captureRadius = 10; duration = 50; initialDepth = 437.934468; finalDepth = 441.887827; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:441.887827 # Seafloor depth:-481.887827 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.765818 meters # Minimum depth: 477.934468 meters looking forward 0.000000 meters along route # Maximum depth: 477.934468 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 437.934468 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.890775; longitude = -117.319329; captureRadius = 10; duration = 50; initialDepth = 443.882828; finalDepth = 437.934468; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:437.934468 # Seafloor depth:-477.934468 # 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 50.765818 meters # Minimum depth: 483.882828 meters looking forward 0.000000 meters along route # Maximum depth: 483.882828 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 443.882828 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.891136; longitude = -117.319802; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 445.751624; finalDepth = 443.882828; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:443.882828 # Seafloor depth:-483.882828 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.765818 meters # Minimum depth: 485.751624 meters looking forward 0.000000 meters along route # Maximum depth: 485.751624 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 445.751624 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.891261; longitude = -117.319909; captureRadius = 10; duration = 50; initialDepth = 446.934914; finalDepth = 445.751624; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:445.751624 # Seafloor depth:-485.751624 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.765818 meters # Minimum depth: 486.934914 meters looking forward 0.000000 meters along route # Maximum depth: 486.934914 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 446.934914 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.891635; longitude = -117.320229; captureRadius = 10; duration = 50; initialDepth = 447.499421; finalDepth = 446.934914; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:446.934914 # Seafloor depth:-486.934914 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.765818 meters # Minimum depth: 487.499421 meters looking forward 0.000000 meters along route # Maximum depth: 487.499421 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 447.499421 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.892010; longitude = -117.320549; captureRadius = 10; duration = 50; initialDepth = 443.678442; finalDepth = 447.499421; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:447.499421 # Seafloor depth:-487.499421 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.765818 meters # Minimum depth: 483.678442 meters looking forward 0.000000 meters along route # Maximum depth: 483.678442 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 443.678442 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.892384; longitude = -117.320870; captureRadius = 10; duration = 50; initialDepth = 448.561703; finalDepth = 443.678442; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:443.678442 # Seafloor depth:-483.678442 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.765818 meters # Minimum depth: 488.561703 meters looking forward 0.000000 meters along route # Maximum depth: 488.561703 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 448.561703 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.892759; longitude = -117.321190; captureRadius = 10; duration = 50; initialDepth = 454.318123; finalDepth = 448.561703; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:448.561703 # Seafloor depth:-488.561703 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.765818 meters # Minimum depth: 494.318123 meters looking forward 0.000000 meters along route # Maximum depth: 494.318123 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 454.318123 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.893134; longitude = -117.321511; captureRadius = 10; duration = 50; initialDepth = 450.260178; finalDepth = 454.318123; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:454.318123 # Seafloor depth:-494.318123 # 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 50.765818 meters # Minimum depth: 490.260178 meters looking forward 0.000000 meters along route # Maximum depth: 490.260178 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 450.260178 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.893571; longitude = -117.321885; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 449.487003; finalDepth = 450.260178; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:450.260178 # Seafloor depth:-490.260178 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.765818 meters # Minimum depth: 489.487003 meters looking forward 0.000000 meters along route # Maximum depth: 489.487003 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 449.487003 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.893616; longitude = -117.321907; captureRadius = 10; duration = 50; initialDepth = 449.774178; finalDepth = 449.487003; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:449.487003 # Seafloor depth:-489.487003 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.765818 meters # Minimum depth: 489.774178 meters looking forward 0.000000 meters along route # Maximum depth: 489.774178 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 449.774178 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.894158; longitude = -117.322169; captureRadius = 10; duration = 50; initialDepth = 455.920506; finalDepth = 449.774178; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:449.774178 # Seafloor depth:-489.774178 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.765818 meters # Minimum depth: 495.920506 meters looking forward 0.000000 meters along route # Maximum depth: 495.920506 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 455.920506 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.894699; longitude = -117.322430; captureRadius = 10; duration = 50; initialDepth = 454.047275; finalDepth = 455.920506; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:455.920506 # Seafloor depth:-495.920506 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.765818 meters # Minimum depth: 494.047275 meters looking forward 0.000000 meters along route # Maximum depth: 494.047275 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 454.047275 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.895118; longitude = -117.322633; captureRadius = 10; duration = 50; initialDepth = 451.638195; finalDepth = 454.047275; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:454.047275 # Seafloor depth:-494.047275 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.765818 meters # Minimum depth: 491.638195 meters looking forward 0.000000 meters along route # Maximum depth: 491.638195 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 451.638195 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.895646; longitude = -117.322888; captureRadius = 10; duration = 50; initialDepth = 452.044088; finalDepth = 451.638195; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:451.638195 # Seafloor depth:-491.638195 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.765818 meters # Minimum depth: 492.044088 meters looking forward 0.000000 meters along route # Maximum depth: 492.044088 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 452.044088 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.896113; longitude = -117.323113; captureRadius = 10; duration = 50; initialDepth = 452.502865; finalDepth = 452.044088; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:452.044088 # Seafloor depth:-492.044088 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.765818 meters # Minimum depth: 492.502865 meters looking forward 0.000000 meters along route # Maximum depth: 492.502865 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 452.502865 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.896593; longitude = -117.323346; captureRadius = 10; duration = 50; initialDepth = 451.310391; finalDepth = 452.502865; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:452.502865 # Seafloor depth:-492.502865 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.765818 meters # Minimum depth: 491.310391 meters looking forward 0.000000 meters along route # Maximum depth: 491.310391 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 451.310391 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.897107; longitude = -117.323594; captureRadius = 10; duration = 50; initialDepth = 453.833920; finalDepth = 451.310391; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:451.310391 # Seafloor depth:-491.310391 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.765818 meters # Minimum depth: 493.833920 meters looking forward 0.000000 meters along route # Maximum depth: 493.833920 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 453.833920 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.897540; longitude = -117.323803; captureRadius = 10; duration = 50; initialDepth = 451.311554; finalDepth = 453.833920; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:453.83392 # Seafloor depth:-493.833920 # 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 50.765818 meters # Minimum depth: 491.311554 meters looking forward 0.000000 meters along route # Maximum depth: 491.311554 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 451.311554 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.897991; longitude = -117.324021; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 448.371196; finalDepth = 451.311554; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:451.311554 # Seafloor depth:-491.311554 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.765818 meters # Minimum depth: 488.371196 meters looking forward 0.000000 meters along route # Maximum depth: 488.371196 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 448.371196 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.898217; longitude = -117.324383; captureRadius = 10; duration = 50; initialDepth = 447.651721; finalDepth = 448.371196; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:448.371196 # Seafloor depth:-488.371196 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.765818 meters # Minimum depth: 487.651721 meters looking forward 0.000000 meters along route # Maximum depth: 487.651721 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 447.651721 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.898488; longitude = -117.324816; captureRadius = 10; duration = 50; initialDepth = 450.146680; finalDepth = 447.651721; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:447.651721 # Seafloor depth:-487.651721 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.765818 meters # Minimum depth: 490.146680 meters looking forward 0.000000 meters along route # Maximum depth: 490.146680 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 450.146680 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.898758; longitude = -117.325249; captureRadius = 10; duration = 50; initialDepth = 457.510277; finalDepth = 450.146680; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:450.14668 # Seafloor depth:-490.146680 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.765818 meters # Minimum depth: 497.510277 meters looking forward 0.000000 meters along route # Maximum depth: 497.510277 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 457.510277 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.899029; longitude = -117.325682; captureRadius = 10; duration = 50; initialDepth = 463.320560; finalDepth = 457.510277; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:457.510277 # Seafloor depth:-497.510277 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.765818 meters # Minimum depth: 503.320560 meters looking forward 0.000000 meters along route # Maximum depth: 503.320560 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 463.320560 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.899326; longitude = -117.326158; captureRadius = 10; duration = 50; initialDepth = 463.616539; finalDepth = 463.320560; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:463.32056 # Seafloor depth:-503.320560 # 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 50.765818 meters # Minimum depth: 503.616539 meters looking forward 0.000000 meters along route # Maximum depth: 503.616539 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 463.616539 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.899660; longitude = -117.326692; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 465.353506; finalDepth = 463.616539; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:463.616539 # Seafloor depth:-503.616539 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.765818 meters # Minimum depth: 505.353506 meters looking forward 0.000000 meters along route # Maximum depth: 505.353506 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 465.353506 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.899705; longitude = -117.326877; captureRadius = 10; duration = 50; initialDepth = 472.284103; finalDepth = 465.353506; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:465.353506 # Seafloor depth:-505.353506 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.765818 meters # Minimum depth: 512.284103 meters looking forward 0.000000 meters along route # Maximum depth: 512.284103 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 472.284103 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.899844; longitude = -117.327440; captureRadius = 10; duration = 50; initialDepth = 471.657578; finalDepth = 472.284103; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:472.284103 # Seafloor depth:-512.284103 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.765818 meters # Minimum depth: 511.657578 meters looking forward 0.000000 meters along route # Maximum depth: 511.657578 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 471.657578 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.899976; longitude = -117.327977; captureRadius = 10; duration = 50; initialDepth = 479.869472; finalDepth = 471.657578; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:471.657578 # Seafloor depth:-511.657578 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.765818 meters # Minimum depth: 519.869472 meters looking forward 0.000000 meters along route # Maximum depth: 519.869472 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 479.869472 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.900120; longitude = -117.328561; captureRadius = 10; duration = 50; initialDepth = 490.326995; finalDepth = 479.869472; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:479.869472 # Seafloor depth:-519.869472 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.765818 meters # Minimum depth: 530.326995 meters looking forward 0.000000 meters along route # Maximum depth: 530.326995 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 490.326995 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.900247; longitude = -117.329077; captureRadius = 10; duration = 50; initialDepth = 484.603678; finalDepth = 490.326995; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:490.326995 # Seafloor depth:-530.326995 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.765818 meters # Minimum depth: 524.603678 meters looking forward 0.000000 meters along route # Maximum depth: 524.603678 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 484.603678 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.900396; longitude = -117.329683; captureRadius = 10; duration = 50; initialDepth = 487.126501; finalDepth = 484.603678; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:484.603678 # Seafloor depth:-524.603678 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.765818 meters # Minimum depth: 527.126501 meters looking forward 0.000000 meters along route # Maximum depth: 527.126501 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 487.126501 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.900554; longitude = -117.330324; captureRadius = 10; duration = 50; initialDepth = 491.080826; finalDepth = 487.126501; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:487.126501 # Seafloor depth:-527.126501 # 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 50.765818 meters # Minimum depth: 531.080826 meters looking forward 0.000000 meters along route # Maximum depth: 531.080826 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 491.080826 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.900698; longitude = -117.330911; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 494.999396; finalDepth = 491.080826; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:491.080826 # Seafloor depth:-531.080826 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.765818 meters # Minimum depth: 534.999396 meters looking forward 0.000000 meters along route # Maximum depth: 534.999396 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 494.999396 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.900669; longitude = -117.331125; captureRadius = 10; duration = 50; initialDepth = 486.478896; finalDepth = 494.999396; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:494.999396 # Seafloor depth:-534.999396 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.765818 meters # Minimum depth: 526.478896 meters looking forward 0.000000 meters along route # Maximum depth: 526.478896 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 486.478896 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.900580; longitude = -117.331766; captureRadius = 10; duration = 50; initialDepth = 484.527725; finalDepth = 486.478896; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:486.478896 # Seafloor depth:-526.478896 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.765818 meters # Minimum depth: 524.527725 meters looking forward 0.000000 meters along route # Maximum depth: 524.527725 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 484.527725 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.900492; longitude = -117.332407; captureRadius = 10; duration = 50; initialDepth = 484.917232; finalDepth = 484.527725; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:484.527725 # Seafloor depth:-524.527725 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.765818 meters # Minimum depth: 524.917232 meters looking forward 0.000000 meters along route # Maximum depth: 524.917232 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 484.917232 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.900404; longitude = -117.333048; captureRadius = 10; duration = 50; initialDepth = 479.707481; finalDepth = 484.917232; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:484.917232 # Seafloor depth:-524.917232 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.765818 meters # Minimum depth: 519.707481 meters looking forward 0.000000 meters along route # Maximum depth: 519.707481 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 479.707481 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.900316; longitude = -117.333689; captureRadius = 10; duration = 50; initialDepth = 484.132983; finalDepth = 479.707481; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:479.707481 # Seafloor depth:-519.707481 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.765818 meters # Minimum depth: 524.132983 meters looking forward 0.000000 meters along route # Maximum depth: 524.132983 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 484.132983 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.900228; longitude = -117.334330; captureRadius = 10; duration = 50; initialDepth = 480.164257; finalDepth = 484.132983; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:484.132983 # Seafloor depth:-524.132983 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.765818 meters # Minimum depth: 520.164257 meters looking forward 0.000000 meters along route # Maximum depth: 520.164257 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 480.164257 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.900140; longitude = -117.334971; captureRadius = 10; duration = 50; initialDepth = 480.054916; finalDepth = 480.164257; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:480.164257 # Seafloor depth:-520.164257 # 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 50.765818 meters # Minimum depth: 520.054916 meters looking forward 0.000000 meters along route # Maximum depth: 520.054916 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 480.054916 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.900066; longitude = -117.335505; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 480.579591; finalDepth = 480.054916; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:480.054916 # Seafloor depth:-520.054916 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 50.765818 meters # Minimum depth: 520.579591 meters looking forward 0.000000 meters along route # Maximum depth: 520.579591 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 480.579591 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.900111; longitude = -117.335681; captureRadius = 10; duration = 50; initialDepth = 480.941780; finalDepth = 480.579591; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:480.579591 # Seafloor depth:-520.579591 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 50.765818 meters # Minimum depth: 520.941780 meters looking forward 0.000000 meters along route # Maximum depth: 520.941780 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 480.941780 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.900247; longitude = -117.336207; captureRadius = 10; duration = 50; initialDepth = 488.589126; finalDepth = 480.941780; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:480.94178 # Seafloor depth:-520.941780 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 50.765818 meters # Minimum depth: 528.589126 meters looking forward 0.000000 meters along route # Maximum depth: 528.589126 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 488.589126 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.900382; longitude = -117.336733; captureRadius = 10; duration = 50; initialDepth = 489.018389; finalDepth = 488.589126; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:488.589126 # Seafloor depth:-528.589126 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 50.765818 meters # Minimum depth: 529.018389 meters looking forward 0.000000 meters along route # Maximum depth: 529.018389 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 489.018389 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.900547; longitude = -117.337374; captureRadius = 10; duration = 50; initialDepth = 500.772385; finalDepth = 489.018389; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:489.018389 # Seafloor depth:-529.018389 # 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 50.765818 meters # Minimum depth: 540.772385 meters looking forward 0.000000 meters along route # Maximum depth: 540.772385 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 500.772385 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.900698; longitude = -117.337962; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 494.067795; finalDepth = 500.772385; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:500.772385 # Seafloor depth:-540.772385 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 50.765818 meters # Minimum depth: 534.067795 meters looking forward 0.000000 meters along route # Maximum depth: 534.067795 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 494.067795 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.900811; longitude = -117.338175; captureRadius = 10; duration = 50; initialDepth = 495.026579; finalDepth = 494.067795; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:494.067795 # Seafloor depth:-534.067795 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 50.765818 meters # Minimum depth: 535.026579 meters looking forward 0.000000 meters along route # Maximum depth: 535.026579 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 495.026579 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.901065; longitude = -117.338656; captureRadius = 10; duration = 50; initialDepth = 497.596590; finalDepth = 495.026579; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:495.026579 # Seafloor depth:-535.026579 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 50.765818 meters # Minimum depth: 537.596590 meters looking forward 0.000000 meters along route # Maximum depth: 537.596590 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 497.596590 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.901329; longitude = -117.339156; captureRadius = 10; duration = 50; initialDepth = 499.746612; finalDepth = 497.596590; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:497.59659 # Seafloor depth:-537.596590 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 50.765818 meters # Minimum depth: 539.746612 meters looking forward 0.000000 meters along route # Maximum depth: 539.746612 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 499.746612 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.901573; longitude = -117.339617; captureRadius = 10; duration = 50; initialDepth = 501.426287; finalDepth = 499.746612; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:499.746612 # Seafloor depth:-539.746612 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 50.765818 meters # Minimum depth: 541.426287 meters looking forward 0.000000 meters along route # Maximum depth: 541.426287 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 501.426287 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.901827; longitude = -117.340098; captureRadius = 10; duration = 50; initialDepth = 503.460820; finalDepth = 501.426287; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:501.426287 # Seafloor depth:-541.426287 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 50.765818 meters # Minimum depth: 543.460820 meters looking forward 0.000000 meters along route # Maximum depth: 543.460820 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 503.460820 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.902081; longitude = -117.340579; captureRadius = 10; duration = 50; initialDepth = 504.184659; finalDepth = 503.460820; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:503.46082 # Seafloor depth:-543.460820 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 50.765818 meters # Minimum depth: 544.184659 meters looking forward 0.000000 meters along route # Maximum depth: 544.184659 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 504.184659 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.902335; longitude = -117.341059; captureRadius = 10; duration = 50; initialDepth = 504.706334; finalDepth = 504.184659; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:504.184659 # Seafloor depth:-544.184659 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 50.765818 meters # Minimum depth: 544.706334 meters looking forward 0.000000 meters along route # Maximum depth: 544.706334 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 504.706334 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.902589; longitude = -117.341540; captureRadius = 10; duration = 50; initialDepth = 504.295663; finalDepth = 504.706334; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:504.706334 # Seafloor depth:-544.706334 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 50.765818 meters # Minimum depth: 544.295663 meters looking forward 0.000000 meters along route # Maximum depth: 544.295663 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 504.295663 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.902843; longitude = -117.342021; captureRadius = 10; duration = 50; initialDepth = 502.292607; finalDepth = 504.295663; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:504.295663 # Seafloor depth:-544.295663 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 50.765818 meters # Minimum depth: 542.292607 meters looking forward 0.000000 meters along route # Maximum depth: 542.292607 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 502.292607 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.903098; longitude = -117.342501; captureRadius = 10; duration = 50; initialDepth = 501.871752; finalDepth = 502.292607; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:502.292607 # Seafloor depth:-542.292607 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 50.765818 meters # Minimum depth: 541.871752 meters looking forward 0.000000 meters along route # Maximum depth: 541.871752 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 501.871752 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.903359; longitude = -117.342996; captureRadius = 10; duration = 50; initialDepth = 503.616553; finalDepth = 501.871752; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:501.871752 # Seafloor depth:-541.871752 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 50.765818 meters # Minimum depth: 543.616553 meters looking forward 0.000000 meters along route # Maximum depth: 543.616553 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 503.616553 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.903606; longitude = -117.343463; captureRadius = 10; duration = 50; initialDepth = 504.468746; finalDepth = 503.616553; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:503.616553 # Seafloor depth:-543.616553 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 50.765818 meters # Minimum depth: 544.468746 meters looking forward 0.000000 meters along route # Maximum depth: 544.468746 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 504.468746 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.903860; longitude = -117.343944; captureRadius = 10; duration = 50; initialDepth = 505.352069; finalDepth = 504.468746; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:504.468746 # Seafloor depth:-544.468746 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 50.765818 meters # Minimum depth: 545.352069 meters looking forward 0.000000 meters along route # Maximum depth: 545.352069 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 505.352069 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.904114; longitude = -117.344424; captureRadius = 10; duration = 50; initialDepth = 505.168869; finalDepth = 505.352069; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:505.352069 # Seafloor depth:-545.352069 # 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 50.765818 meters # Minimum depth: 545.168869 meters looking forward 0.000000 meters along route # Maximum depth: 545.168869 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 505.168869 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.904396; longitude = -117.344958; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 505.256678; finalDepth = 505.168869; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:505.168869 # Seafloor depth:-545.168869 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 50.765818 meters # Minimum depth: 545.256678 meters looking forward 0.000000 meters along route # Maximum depth: 545.256678 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 505.256678 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.904614; longitude = -117.345225; captureRadius = 10; duration = 50; initialDepth = 506.253226; finalDepth = 505.256678; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:505.256678 # Seafloor depth:-545.256678 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 50.765818 meters # Minimum depth: 546.253226 meters looking forward 0.000000 meters along route # Maximum depth: 546.253226 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 506.253226 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.905006; longitude = -117.345706; captureRadius = 10; duration = 50; initialDepth = 506.485155; finalDepth = 506.253226; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:506.253226 # Seafloor depth:-546.253226 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 50.765818 meters # Minimum depth: 546.485155 meters looking forward 0.000000 meters along route # Maximum depth: 546.485155 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 506.485155 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.905398; longitude = -117.346187; captureRadius = 10; duration = 50; initialDepth = 505.987981; finalDepth = 506.485155; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:506.485155 # Seafloor depth:-546.485155 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 50.765818 meters # Minimum depth: 545.987981 meters looking forward 0.000000 meters along route # Maximum depth: 545.987981 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 505.987981 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.905794; longitude = -117.346673; captureRadius = 10; duration = 50; initialDepth = 509.764915; finalDepth = 505.987981; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:505.987981 # Seafloor depth:-545.987981 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 50.765818 meters # Minimum depth: 549.764915 meters looking forward 0.000000 meters along route # Maximum depth: 549.764915 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 509.764915 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.906200; longitude = -117.347171; captureRadius = 10; duration = 50; initialDepth = 517.221786; finalDepth = 509.764915; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:509.764915 # Seafloor depth:-549.764915 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 50.765818 meters # Minimum depth: 557.221786 meters looking forward 0.000000 meters along route # Maximum depth: 557.221786 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 517.221786 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.906606; longitude = -117.347669; captureRadius = 10; duration = 50; initialDepth = 522.438522; finalDepth = 517.221786; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:517.221786 # Seafloor depth:-557.221786 # 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 31 # Segment length 50.765818 meters # Minimum depth: 562.438522 meters looking forward 0.000000 meters along route # Maximum depth: 562.438522 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 522.438522 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.906922; longitude = -117.348056; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 522.399661; finalDepth = 522.438522; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:522.438522 # Seafloor depth:-562.438522 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 50.765818 meters # Minimum depth: 562.399661 meters looking forward 0.000000 meters along route # Maximum depth: 562.399661 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 522.399661 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.907033; longitude = -117.348430; captureRadius = 10; duration = 50; initialDepth = 522.384084; finalDepth = 522.399661; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:522.399661 # Seafloor depth:-562.399661 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 50.765818 meters # Minimum depth: 562.384084 meters looking forward 0.000000 meters along route # Maximum depth: 562.384084 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 522.384084 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.907223; longitude = -117.349071; captureRadius = 10; duration = 50; initialDepth = 516.391643; finalDepth = 522.384084; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:522.384084 # Seafloor depth:-562.384084 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 50.765818 meters # Minimum depth: 556.391643 meters looking forward 0.000000 meters along route # Maximum depth: 556.391643 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 516.391643 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.907418; longitude = -117.349728; captureRadius = 10; duration = 50; initialDepth = 516.652017; finalDepth = 516.391643; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:516.391643 # Seafloor depth:-556.391643 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 50.765818 meters # Minimum depth: 556.652017 meters looking forward 0.000000 meters along route # Maximum depth: 556.652017 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 516.652017 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.907603; longitude = -117.350353; captureRadius = 10; duration = 50; initialDepth = 516.647618; finalDepth = 516.652017; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:516.652017 # Seafloor depth:-556.652017 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 50.765818 meters # Minimum depth: 556.647618 meters looking forward 0.000000 meters along route # Maximum depth: 556.647618 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 516.647618 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.907794; longitude = -117.350994; captureRadius = 10; duration = 50; initialDepth = 518.544443; finalDepth = 516.647618; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:516.647618 # Seafloor depth:-556.647618 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 50.765818 meters # Minimum depth: 558.544443 meters looking forward 0.000000 meters along route # Maximum depth: 558.544443 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 518.544443 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.907959; longitude = -117.351553; captureRadius = 10; duration = 50; initialDepth = 517.568006; finalDepth = 518.544443; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:518.544443 # Seafloor depth:-558.544443 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 50.765818 meters # Minimum depth: 557.568006 meters looking forward 0.000000 meters along route # Maximum depth: 557.568006 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 517.568006 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.908126; longitude = -117.352116; captureRadius = 10; duration = 50; initialDepth = 521.109665; finalDepth = 517.568006; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:517.568006 # Seafloor depth:-557.568006 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 50.765818 meters # Minimum depth: 561.109665 meters looking forward 0.000000 meters along route # Maximum depth: 561.109665 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 521.109665 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.908317; longitude = -117.352756; captureRadius = 10; duration = 50; initialDepth = 522.649314; finalDepth = 521.109665; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:521.109665 # Seafloor depth:-561.109665 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 50.765818 meters # Minimum depth: 562.649314 meters looking forward 0.000000 meters along route # Maximum depth: 562.649314 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 522.649314 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.908507; longitude = -117.353397; captureRadius = 10; duration = 50; initialDepth = 524.294281; finalDepth = 522.649314; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:522.649314 # Seafloor depth:-562.649314 # 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 50.765818 meters # Minimum depth: 564.294281 meters looking forward 0.000000 meters along route # Maximum depth: 564.294281 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 524.294281 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.908681; longitude = -117.353985; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 524.774369; finalDepth = 524.294281; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:524.294281 # Seafloor depth:-564.294281 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.765818 meters # Minimum depth: 564.774369 meters looking forward 0.000000 meters along route # Maximum depth: 564.774369 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 524.774369 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.908771; longitude = -117.354534; captureRadius = 10; duration = 50; initialDepth = 526.178085; finalDepth = 524.774369; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:524.774369 # Seafloor depth:-564.774369 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.765818 meters # Minimum depth: 566.178085 meters looking forward 0.000000 meters along route # Maximum depth: 566.178085 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 526.178085 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.908874; longitude = -117.355160; captureRadius = 10; duration = 50; initialDepth = 527.421984; finalDepth = 526.178085; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:526.178085 # Seafloor depth:-566.178085 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.765818 meters # Minimum depth: 567.421984 meters looking forward 0.000000 meters along route # Maximum depth: 567.421984 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 527.421984 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.908979; longitude = -117.355801; captureRadius = 10; duration = 50; initialDepth = 528.112900; finalDepth = 527.421984; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:527.421984 # Seafloor depth:-567.421984 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.765818 meters # Minimum depth: 568.112900 meters looking forward 0.000000 meters along route # Maximum depth: 568.112900 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 528.112900 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.909085; longitude = -117.356442; captureRadius = 10; duration = 50; initialDepth = 529.257949; finalDepth = 528.112900; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:528.1129 # Seafloor depth:-568.112900 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.765818 meters # Minimum depth: 569.257949 meters looking forward 0.000000 meters along route # Maximum depth: 569.257949 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 529.257949 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.909177; longitude = -117.357004; captureRadius = 10; duration = 50; initialDepth = 530.307559; finalDepth = 529.257949; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:529.257949 # Seafloor depth:-569.257949 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.765818 meters # Minimum depth: 570.307559 meters looking forward 0.000000 meters along route # Maximum depth: 570.307559 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 530.307559 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.909269; longitude = -117.357563; captureRadius = 10; duration = 50; initialDepth = 531.132467; finalDepth = 530.307559; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:530.307559 # Seafloor depth:-570.307559 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.765818 meters # Minimum depth: 571.132467 meters looking forward 0.000000 meters along route # Maximum depth: 571.132467 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 531.132467 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.909375; longitude = -117.358204; captureRadius = 10; duration = 50; initialDepth = 532.317543; finalDepth = 531.132467; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:531.132467 # Seafloor depth:-571.132467 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.765818 meters # Minimum depth: 572.317543 meters looking forward 0.000000 meters along route # Maximum depth: 572.317543 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 532.317543 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.909480; longitude = -117.358845; captureRadius = 10; duration = 50; initialDepth = 538.379384; finalDepth = 532.317543; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:532.317543 # Seafloor depth:-572.317543 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.765818 meters # Minimum depth: 578.379384 meters looking forward 0.000000 meters along route # Maximum depth: 578.379384 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 538.379384 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.909585; longitude = -117.359486; captureRadius = 10; duration = 50; initialDepth = 537.988678; finalDepth = 538.379384; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:538.379384 # Seafloor depth:-578.379384 # 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 50.765818 meters # Minimum depth: 577.988678 meters looking forward 0.000000 meters along route # Maximum depth: 577.988678 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 537.988678 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.909673; longitude = -117.360020; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 538.661012; finalDepth = 537.988678; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:537.988678 # Seafloor depth:-577.988678 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.765818 meters # Minimum depth: 578.661012 meters looking forward 0.000000 meters along route # Maximum depth: 578.661012 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 538.661012 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.909718; longitude = -117.360195; captureRadius = 10; duration = 50; initialDepth = 537.391711; finalDepth = 538.661012; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:538.661012 # Seafloor depth:-578.661012 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.765818 meters # Minimum depth: 577.391711 meters looking forward 0.000000 meters along route # Maximum depth: 577.391711 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 537.391711 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.909854; longitude = -117.360718; captureRadius = 10; duration = 50; initialDepth = 539.152673; finalDepth = 537.391711; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:537.391711 # Seafloor depth:-577.391711 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.765818 meters # Minimum depth: 579.152673 meters looking forward 0.000000 meters along route # Maximum depth: 579.152673 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 539.152673 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.909991; longitude = -117.361249; captureRadius = 10; duration = 50; initialDepth = 541.289103; finalDepth = 539.152673; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:539.152673 # Seafloor depth:-579.152673 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.765818 meters # Minimum depth: 581.289103 meters looking forward 0.000000 meters along route # Maximum depth: 581.289103 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 541.289103 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.910124; longitude = -117.361762; captureRadius = 10; duration = 50; initialDepth = 543.068613; finalDepth = 541.289103; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:541.289103 # Seafloor depth:-581.289103 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.765818 meters # Minimum depth: 583.068613 meters looking forward 0.000000 meters along route # Maximum depth: 583.068613 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 543.068613 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.910260; longitude = -117.362284; captureRadius = 10; duration = 50; initialDepth = 544.556059; finalDepth = 543.068613; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:543.068613 # Seafloor depth:-583.068613 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.765818 meters # Minimum depth: 584.556059 meters looking forward 0.000000 meters along route # Maximum depth: 584.556059 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 544.556059 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.910395; longitude = -117.362806; captureRadius = 10; duration = 50; initialDepth = 544.609751; finalDepth = 544.556059; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:544.556059 # Seafloor depth:-584.556059 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.765818 meters # Minimum depth: 584.609751 meters looking forward 0.000000 meters along route # Maximum depth: 584.609751 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 544.609751 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.910531; longitude = -117.363332; captureRadius = 10; duration = 50; initialDepth = 545.795494; finalDepth = 544.609751; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:544.609751 # Seafloor depth:-584.609751 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.765818 meters # Minimum depth: 585.795494 meters looking forward 0.000000 meters along route # Maximum depth: 585.795494 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 545.795494 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.910666; longitude = -117.363851; captureRadius = 10; duration = 50; initialDepth = 545.968226; finalDepth = 545.795494; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:545.795494 # Seafloor depth:-585.795494 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.765818 meters # Minimum depth: 585.968226 meters looking forward 0.000000 meters along route # Maximum depth: 585.968226 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 545.968226 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.910801; longitude = -117.364373; captureRadius = 10; duration = 50; initialDepth = 547.647420; finalDepth = 545.968226; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:545.968226 # Seafloor depth:-585.968226 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.765818 meters # Minimum depth: 587.647420 meters looking forward 0.000000 meters along route # Maximum depth: 587.647420 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 547.647420 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.910936; longitude = -117.364895; captureRadius = 10; duration = 50; initialDepth = 551.468882; finalDepth = 547.647420; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:547.64742 # Seafloor depth:-587.647420 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.765818 meters # Minimum depth: 591.468882 meters looking forward 0.000000 meters along route # Maximum depth: 591.468882 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 551.468882 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911072; longitude = -117.365417; captureRadius = 10; duration = 50; initialDepth = 551.642760; finalDepth = 551.468882; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:551.468882 # Seafloor depth:-591.468882 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.765818 meters # Minimum depth: 591.642760 meters looking forward 0.000000 meters along route # Maximum depth: 591.642760 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 551.642760 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911207; longitude = -117.365939; captureRadius = 10; duration = 50; initialDepth = 554.467551; finalDepth = 551.642760; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:551.64276 # Seafloor depth:-591.642760 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.765818 meters # Minimum depth: 594.467551 meters looking forward 0.000000 meters along route # Maximum depth: 594.467551 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 554.467551 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911342; longitude = -117.366461; captureRadius = 10; duration = 50; initialDepth = 555.111438; finalDepth = 554.467551; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:554.467551 # Seafloor depth:-594.467551 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.765818 meters # Minimum depth: 595.111438 meters looking forward 0.000000 meters along route # Maximum depth: 595.111438 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 555.111438 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911477; longitude = -117.366984; captureRadius = 10; duration = 50; initialDepth = 555.307202; finalDepth = 555.111438; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:555.111438 # Seafloor depth:-595.111438 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.765818 meters # Minimum depth: 595.307202 meters looking forward 0.000000 meters along route # Maximum depth: 595.307202 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 555.307202 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911613; longitude = -117.367506; captureRadius = 10; duration = 50; initialDepth = 556.797819; finalDepth = 555.307202; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:555.307202 # Seafloor depth:-595.307202 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.765818 meters # Minimum depth: 596.797819 meters looking forward 0.000000 meters along route # Maximum depth: 596.797819 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 556.797819 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911777; longitude = -117.368139; captureRadius = 10; duration = 50; initialDepth = 557.662262; finalDepth = 556.797819; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:556.797819 # Seafloor depth:-596.797819 # 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 50.765818 meters # Minimum depth: 597.662262 meters looking forward 0.000000 meters along route # Maximum depth: 597.662262 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 557.662262 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911929; longitude = -117.368726; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 556.477931; finalDepth = 557.662262; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:557.662262 # Seafloor depth:-597.662262 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 50.765818 meters # Minimum depth: 596.477931 meters looking forward 0.000000 meters along route # Maximum depth: 596.477931 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 556.477931 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911991; longitude = -117.369261; captureRadius = 10; duration = 50; initialDepth = 559.145936; finalDepth = 556.477931; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:556.477931 # Seafloor depth:-596.477931 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 50.765818 meters # Minimum depth: 599.145936 meters looking forward 0.000000 meters along route # Maximum depth: 599.145936 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 559.145936 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912065; longitude = -117.369901; captureRadius = 10; duration = 50; initialDepth = 563.123745; finalDepth = 559.145936; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:559.145936 # Seafloor depth:-599.145936 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 50.765818 meters # Minimum depth: 603.123745 meters looking forward 0.000000 meters along route # Maximum depth: 603.123745 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 563.123745 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912140; longitude = -117.370542; captureRadius = 10; duration = 50; initialDepth = 567.088683; finalDepth = 563.123745; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:563.123745 # Seafloor depth:-603.123745 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 50.765818 meters # Minimum depth: 607.088683 meters looking forward 0.000000 meters along route # Maximum depth: 607.088683 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 567.088683 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912214; longitude = -117.371183; captureRadius = 10; duration = 50; initialDepth = 566.363025; finalDepth = 567.088683; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:567.088683 # Seafloor depth:-607.088683 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 50.765818 meters # Minimum depth: 606.363025 meters looking forward 0.000000 meters along route # Maximum depth: 606.363025 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 566.363025 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912289; longitude = -117.371834; captureRadius = 10; duration = 50; initialDepth = 571.447501; finalDepth = 566.363025; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:566.363025 # Seafloor depth:-606.363025 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 50.765818 meters # Minimum depth: 611.447501 meters looking forward 0.000000 meters along route # Maximum depth: 611.447501 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 571.447501 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912362; longitude = -117.372465; captureRadius = 10; duration = 50; initialDepth = 570.265853; finalDepth = 571.447501; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:571.447501 # Seafloor depth:-611.447501 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 50.765818 meters # Minimum depth: 610.265853 meters looking forward 0.000000 meters along route # Maximum depth: 610.265853 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 570.265853 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912425; longitude = -117.373001; captureRadius = 10; duration = 50; initialDepth = 570.245822; finalDepth = 570.265853; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:570.265853 # Seafloor depth:-610.265853 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 50.765818 meters # Minimum depth: 610.245822 meters looking forward 0.000000 meters along route # Maximum depth: 610.245822 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 570.245822 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912493; longitude = -117.373587; captureRadius = 10; duration = 50; initialDepth = 569.613801; finalDepth = 570.245822; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:570.245822 # Seafloor depth:-610.245822 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 50.765818 meters # Minimum depth: 609.613801 meters looking forward 0.000000 meters along route # Maximum depth: 609.613801 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 569.613801 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912560; longitude = -117.374169; captureRadius = 10; duration = 50; initialDepth = 572.818016; finalDepth = 569.613801; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:569.613801 # Seafloor depth:-609.613801 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 50.765818 meters # Minimum depth: 612.818016 meters looking forward 0.000000 meters along route # Maximum depth: 612.818016 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 572.818016 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912623; longitude = -117.374708; captureRadius = 10; duration = 50; initialDepth = 574.054395; finalDepth = 572.818016; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:572.818016 # Seafloor depth:-612.818016 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 50.765818 meters # Minimum depth: 614.054395 meters looking forward 0.000000 meters along route # Maximum depth: 614.054395 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 574.054395 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912697; longitude = -117.375349; captureRadius = 10; duration = 50; initialDepth = 575.781380; finalDepth = 574.054395; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:574.054395 # Seafloor depth:-614.054395 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 50.765818 meters # Minimum depth: 615.781380 meters looking forward 0.000000 meters along route # Maximum depth: 615.781380 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 575.781380 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912771; longitude = -117.375990; captureRadius = 10; duration = 50; initialDepth = 576.372710; finalDepth = 575.781380; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:575.78138 # Seafloor depth:-615.781380 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 50.765818 meters # Minimum depth: 616.372710 meters looking forward 0.000000 meters along route # Maximum depth: 616.372710 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 576.372710 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912845; longitude = -117.376631; captureRadius = 10; duration = 50; initialDepth = 575.876197; finalDepth = 576.372710; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:576.37271 # Seafloor depth:-616.372710 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 50.765818 meters # Minimum depth: 615.876197 meters looking forward 0.000000 meters along route # Maximum depth: 615.876197 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 575.876197 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912920; longitude = -117.377272; captureRadius = 10; duration = 50; initialDepth = 576.788500; finalDepth = 575.876197; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:575.876197 # Seafloor depth:-615.876197 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 50.765818 meters # Minimum depth: 616.788500 meters looking forward 0.000000 meters along route # Maximum depth: 616.788500 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 576.788500 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912994; longitude = -117.377913; captureRadius = 10; duration = 50; initialDepth = 577.736481; finalDepth = 576.788500; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:576.7885 # Seafloor depth:-616.788500 # 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 50.765818 meters # Minimum depth: 617.736481 meters looking forward 0.000000 meters along route # Maximum depth: 617.736481 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 577.736481 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913056; longitude = -117.378447; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 579.552386; finalDepth = 577.736481; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:577.736481 # Seafloor depth:-617.736481 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 50.765818 meters # Minimum depth: 619.552386 meters looking forward 0.000000 meters along route # Maximum depth: 619.552386 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 579.552386 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913093; longitude = -117.379035; captureRadius = 10; duration = 50; initialDepth = 579.914753; finalDepth = 579.552386; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:579.552386 # Seafloor depth:-619.552386 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 50.765818 meters # Minimum depth: 619.914753 meters looking forward 0.000000 meters along route # Maximum depth: 619.914753 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 579.914753 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913134; longitude = -117.379676; captureRadius = 10; duration = 50; initialDepth = 580.958123; finalDepth = 579.914753; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:579.914753 # Seafloor depth:-619.914753 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 50.765818 meters # Minimum depth: 620.958123 meters looking forward 0.000000 meters along route # Maximum depth: 620.958123 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 580.958123 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913175; longitude = -117.380317; captureRadius = 10; duration = 50; initialDepth = 582.501193; finalDepth = 580.958123; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:580.958123 # Seafloor depth:-620.958123 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 50.765818 meters # Minimum depth: 622.501193 meters looking forward 0.000000 meters along route # Maximum depth: 622.501193 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 582.501193 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913216; longitude = -117.380958; captureRadius = 10; duration = 50; initialDepth = 584.306671; finalDepth = 582.501193; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:582.501193 # Seafloor depth:-622.501193 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 50.765818 meters # Minimum depth: 624.306671 meters looking forward 0.000000 meters along route # Maximum depth: 624.306671 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 584.306671 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913257; longitude = -117.381598; captureRadius = 10; duration = 50; initialDepth = 586.664874; finalDepth = 584.306671; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:584.306671 # Seafloor depth:-624.306671 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 50.765818 meters # Minimum depth: 626.664874 meters looking forward 0.000000 meters along route # Maximum depth: 626.664874 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 586.664874 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913298; longitude = -117.382239; captureRadius = 10; duration = 50; initialDepth = 592.000459; finalDepth = 586.664874; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:586.664874 # Seafloor depth:-626.664874 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 50.765818 meters # Minimum depth: 632.000459 meters looking forward 0.000000 meters along route # Maximum depth: 632.000459 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 592.000459 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913339; longitude = -117.382880; captureRadius = 10; duration = 50; initialDepth = 591.243155; finalDepth = 592.000459; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:592.000459 # Seafloor depth:-632.000459 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 50.765818 meters # Minimum depth: 631.243155 meters looking forward 0.000000 meters along route # Maximum depth: 631.243155 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 591.243155 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913380; longitude = -117.383521; captureRadius = 10; duration = 50; initialDepth = 591.903305; finalDepth = 591.243155; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:591.243155 # Seafloor depth:-631.243155 # 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 26 # Segment length 50.765818 meters # Minimum depth: 631.903305 meters looking forward 0.000000 meters along route # Maximum depth: 631.903305 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 591.903305 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913417; longitude = -117.384109; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 591.823417; finalDepth = 591.903305; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:591.903305 # Seafloor depth:-631.903305 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 50.765818 meters # Minimum depth: 631.823417 meters looking forward 0.000000 meters along route # Maximum depth: 631.823417 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 591.823417 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913407; longitude = -117.384162; captureRadius = 10; duration = 50; initialDepth = 596.224292; finalDepth = 591.823417; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:591.823417 # Seafloor depth:-631.823417 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 50.765818 meters # Minimum depth: 636.224292 meters looking forward 0.000000 meters along route # Maximum depth: 636.224292 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 596.224292 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913282; longitude = -117.384803; captureRadius = 10; duration = 50; initialDepth = 598.865485; finalDepth = 596.224292; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:596.224292 # Seafloor depth:-636.224292 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 50.765818 meters # Minimum depth: 638.865485 meters looking forward 0.000000 meters along route # Maximum depth: 638.865485 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 598.865485 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913157; longitude = -117.385444; captureRadius = 10; duration = 50; initialDepth = 601.627841; finalDepth = 598.865485; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:598.865485 # Seafloor depth:-638.865485 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 50.765818 meters # Minimum depth: 641.627841 meters looking forward 0.000000 meters along route # Maximum depth: 641.627841 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 601.627841 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913032; longitude = -117.386085; captureRadius = 10; duration = 50; initialDepth = 603.101356; finalDepth = 601.627841; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:601.627841 # Seafloor depth:-641.627841 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 50.765818 meters # Minimum depth: 643.101356 meters looking forward 0.000000 meters along route # Maximum depth: 643.101356 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 603.101356 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912908; longitude = -117.386726; captureRadius = 10; duration = 50; initialDepth = 604.456094; finalDepth = 603.101356; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:603.101356 # Seafloor depth:-643.101356 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 50.765818 meters # Minimum depth: 644.456094 meters looking forward 0.000000 meters along route # Maximum depth: 644.456094 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 604.456094 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912783; longitude = -117.387367; captureRadius = 10; duration = 50; initialDepth = 605.373704; finalDepth = 604.456094; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:604.456094 # Seafloor depth:-644.456094 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 50.765818 meters # Minimum depth: 645.373704 meters looking forward 0.000000 meters along route # Maximum depth: 645.373704 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 605.373704 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912658; longitude = -117.388008; captureRadius = 10; duration = 50; initialDepth = 605.008184; finalDepth = 605.373704; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:605.373704 # Seafloor depth:-645.373704 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 50.765818 meters # Minimum depth: 645.008184 meters looking forward 0.000000 meters along route # Maximum depth: 645.008184 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 605.008184 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912534; longitude = -117.388649; captureRadius = 10; duration = 50; initialDepth = 607.158456; finalDepth = 605.008184; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:605.008184 # Seafloor depth:-645.008184 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 50.765818 meters # Minimum depth: 647.158456 meters looking forward 0.000000 meters along route # Maximum depth: 647.158456 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 607.158456 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912425; longitude = -117.389208; captureRadius = 10; duration = 50; initialDepth = 608.025380; finalDepth = 607.158456; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:607.158456 # Seafloor depth:-647.158456 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 50.765818 meters # Minimum depth: 648.025380 meters looking forward 0.000000 meters along route # Maximum depth: 648.025380 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 608.025380 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912315; longitude = -117.389770; captureRadius = 10; duration = 50; initialDepth = 608.867455; finalDepth = 608.025380; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:608.02538 # Seafloor depth:-648.025380 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 50.765818 meters # Minimum depth: 648.867455 meters looking forward 0.000000 meters along route # Maximum depth: 648.867455 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 608.867455 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912190; longitude = -117.390411; captureRadius = 10; duration = 50; initialDepth = 609.378397; finalDepth = 608.867455; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:608.867455 # Seafloor depth:-648.867455 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 50.765818 meters # Minimum depth: 649.378397 meters looking forward 0.000000 meters along route # Maximum depth: 649.378397 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 609.378397 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912066; longitude = -117.391052; captureRadius = 10; duration = 50; initialDepth = 608.446970; finalDepth = 609.378397; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:609.378397 # Seafloor depth:-649.378397 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 50.765818 meters # Minimum depth: 648.446970 meters looking forward 0.000000 meters along route # Maximum depth: 648.446970 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 608.446970 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911941; longitude = -117.391693; captureRadius = 10; duration = 50; initialDepth = 608.329494; finalDepth = 608.446970; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:608.44697 # Seafloor depth:-648.446970 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 50.765818 meters # Minimum depth: 648.329494 meters looking forward 0.000000 meters along route # Maximum depth: 648.329494 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 608.329494 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911816; longitude = -117.392334; captureRadius = 10; duration = 50; initialDepth = 605.756714; finalDepth = 608.329494; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:608.329494 # Seafloor depth:-648.329494 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 50.765818 meters # Minimum depth: 645.756714 meters looking forward 0.000000 meters along route # Maximum depth: 645.756714 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 605.756714 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911692; longitude = -117.392975; captureRadius = 10; duration = 50; initialDepth = 592.382075; finalDepth = 605.756714; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:605.756714 # Seafloor depth:-645.756714 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 50.765818 meters # Minimum depth: 632.382075 meters looking forward 0.000000 meters along route # Maximum depth: 632.382075 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 592.382075 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911567; longitude = -117.393616; captureRadius = 10; duration = 50; initialDepth = 571.410713; finalDepth = 592.382075; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:592.382075 # Seafloor depth:-632.382075 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 50.765818 meters # Minimum depth: 611.410713 meters looking forward 0.000000 meters along route # Maximum depth: 611.410713 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 571.410713 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911442; longitude = -117.394257; captureRadius = 10; duration = 50; initialDepth = 570.091982; finalDepth = 571.410713; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:571.410713 # Seafloor depth:-611.410713 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 50.765818 meters # Minimum depth: 610.091982 meters looking forward 0.000000 meters along route # Maximum depth: 610.091982 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 570.091982 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911317; longitude = -117.394898; captureRadius = 10; duration = 50; initialDepth = 570.938722; finalDepth = 570.091982; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:570.091982 # Seafloor depth:-610.091982 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 50.765818 meters # Minimum depth: 610.938722 meters looking forward 0.000000 meters along route # Maximum depth: 610.938722 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 570.938722 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911207; longitude = -117.395466; captureRadius = 10; duration = 50; initialDepth = 571.791957; finalDepth = 570.938722; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:570.938722 # Seafloor depth:-610.938722 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 50.765818 meters # Minimum depth: 611.791957 meters looking forward 0.000000 meters along route # Maximum depth: 611.791957 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 571.791957 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911099; longitude = -117.396020; captureRadius = 10; duration = 50; initialDepth = 574.641599; finalDepth = 571.791957; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:571.791957 # Seafloor depth:-611.791957 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 50.765818 meters # Minimum depth: 614.641599 meters looking forward 0.000000 meters along route # Maximum depth: 614.641599 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 574.641599 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.910974; longitude = -117.396660; captureRadius = 10; duration = 50; initialDepth = 578.024342; finalDepth = 574.641599; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:574.641599 # Seafloor depth:-614.641599 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 50.765818 meters # Minimum depth: 618.024342 meters looking forward 0.000000 meters along route # Maximum depth: 618.024342 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 578.024342 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.910850; longitude = -117.397301; captureRadius = 10; duration = 50; initialDepth = 575.771045; finalDepth = 578.024342; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:578.024342 # Seafloor depth:-618.024342 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 50.765818 meters # Minimum depth: 615.771045 meters looking forward 0.000000 meters along route # Maximum depth: 615.771045 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 575.771045 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.910725; longitude = -117.397942; captureRadius = 10; duration = 50; initialDepth = 583.513168; finalDepth = 575.771045; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:575.771045 # Seafloor depth:-615.771045 # 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 25 # Segment length 50.765818 meters # Minimum depth: 623.513168 meters looking forward 0.000000 meters along route # Maximum depth: 623.513168 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 583.513168 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.910621; longitude = -117.398476; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 585.052829; finalDepth = 583.513168; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:583.513168 # Seafloor depth:-623.513168 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 50.765818 meters # Minimum depth: 625.052829 meters looking forward 0.000000 meters along route # Maximum depth: 625.052829 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 585.052829 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.910936; longitude = -117.398413; captureRadius = 10; duration = 50; initialDepth = 589.770232; finalDepth = 585.052829; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:585.052829 # Seafloor depth:-625.052829 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 50.765818 meters # Minimum depth: 629.770232 meters looking forward 0.000000 meters along route # Maximum depth: 629.770232 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 589.770232 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911477; longitude = -117.398304; captureRadius = 10; duration = 50; initialDepth = 591.099855; finalDepth = 589.770232; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:589.770232 # Seafloor depth:-629.770232 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 50.765818 meters # Minimum depth: 631.099855 meters looking forward 0.000000 meters along route # Maximum depth: 631.099855 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 591.099855 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912019; longitude = -117.398196; captureRadius = 10; duration = 50; initialDepth = 591.282133; finalDepth = 591.099855; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:591.099855 # Seafloor depth:-631.099855 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 50.765818 meters # Minimum depth: 631.282133 meters looking forward 0.000000 meters along route # Maximum depth: 631.282133 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 591.282133 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912483; longitude = -117.398103; captureRadius = 10; duration = 50; initialDepth = 593.234165; finalDepth = 591.282133; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:591.282133 # Seafloor depth:-631.282133 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 50.765818 meters # Minimum depth: 633.234165 meters looking forward 0.000000 meters along route # Maximum depth: 633.234165 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 593.234165 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912966; longitude = -117.398006; captureRadius = 10; duration = 50; initialDepth = 590.968858; finalDepth = 593.234165; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:593.234165 # Seafloor depth:-633.234165 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 50.765818 meters # Minimum depth: 630.968858 meters looking forward 0.000000 meters along route # Maximum depth: 630.968858 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 590.968858 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913507; longitude = -117.397897; captureRadius = 10; duration = 50; initialDepth = 603.893201; finalDepth = 590.968858; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:590.968858 # Seafloor depth:-630.968858 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 50.765818 meters # Minimum depth: 643.893201 meters looking forward 0.000000 meters along route # Maximum depth: 643.893201 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 603.893201 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914081; longitude = -117.397782; captureRadius = 10; duration = 50; initialDepth = 605.728780; finalDepth = 603.893201; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:603.893201 # Seafloor depth:-643.893201 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 50.765818 meters # Minimum depth: 645.728780 meters looking forward 0.000000 meters along route # Maximum depth: 645.728780 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 605.728780 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914590; longitude = -117.397680; captureRadius = 10; duration = 50; initialDepth = 608.462804; finalDepth = 605.728780; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:605.72878 # Seafloor depth:-645.728780 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 50.765818 meters # Minimum depth: 648.462804 meters looking forward 0.000000 meters along route # Maximum depth: 648.462804 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 608.462804 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915131; longitude = -117.397572; captureRadius = 10; duration = 50; initialDepth = 615.195422; finalDepth = 608.462804; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:608.462804 # Seafloor depth:-648.462804 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 50.765818 meters # Minimum depth: 655.195422 meters looking forward 0.000000 meters along route # Maximum depth: 655.195422 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 615.195422 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915679; longitude = -117.397462; captureRadius = 10; duration = 50; initialDepth = 616.028914; finalDepth = 615.195422; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:615.195422 # Seafloor depth:-655.195422 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 50.765818 meters # Minimum depth: 656.028914 meters looking forward 0.000000 meters along route # Maximum depth: 656.028914 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 616.028914 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.916213; longitude = -117.397354; captureRadius = 10; duration = 50; initialDepth = 616.828387; finalDepth = 616.028914; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:616.028914 # Seafloor depth:-656.028914 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 50.765818 meters # Minimum depth: 656.828387 meters looking forward 0.000000 meters along route # Maximum depth: 656.828387 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 616.828387 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.916755; longitude = -117.397246; captureRadius = 10; duration = 50; initialDepth = 617.339220; finalDepth = 616.828387; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:616.828387 # Seafloor depth:-656.828387 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 50.765818 meters # Minimum depth: 657.339220 meters looking forward 0.000000 meters along route # Maximum depth: 657.339220 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 617.339220 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.917296; longitude = -117.397137; captureRadius = 10; duration = 50; initialDepth = 612.066572; finalDepth = 617.339220; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:617.33922 # Seafloor depth:-657.339220 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 50.765818 meters # Minimum depth: 652.066572 meters looking forward 0.000000 meters along route # Maximum depth: 652.066572 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 612.066572 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.917837; longitude = -117.397029; captureRadius = 10; duration = 50; initialDepth = 608.159286; finalDepth = 612.066572; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:612.066572 # Seafloor depth:-652.066572 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 50.765818 meters # Minimum depth: 648.159286 meters looking forward 0.000000 meters along route # Maximum depth: 648.159286 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 608.159286 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.918378; longitude = -117.396920; captureRadius = 10; duration = 50; initialDepth = 602.235804; finalDepth = 608.159286; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:608.159286 # Seafloor depth:-648.159286 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 50.765818 meters # Minimum depth: 642.235804 meters looking forward 0.000000 meters along route # Maximum depth: 642.235804 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 602.235804 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.918920; longitude = -117.396812; captureRadius = 10; duration = 50; initialDepth = 594.712457; finalDepth = 602.235804; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:602.235804 # Seafloor depth:-642.235804 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 50.765818 meters # Minimum depth: 634.712457 meters looking forward 0.000000 meters along route # Maximum depth: 634.712457 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 594.712457 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.919461; longitude = -117.396703; captureRadius = 10; duration = 50; initialDepth = 593.322008; finalDepth = 594.712457; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:594.712457 # Seafloor depth:-634.712457 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 50.765818 meters # Minimum depth: 633.322008 meters looking forward 0.000000 meters along route # Maximum depth: 633.322008 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 593.322008 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.920002; longitude = -117.396595; captureRadius = 10; duration = 50; initialDepth = 592.122318; finalDepth = 593.322008; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:593.322008 # Seafloor depth:-633.322008 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 50.765818 meters # Minimum depth: 632.122318 meters looking forward 0.000000 meters along route # Maximum depth: 632.122318 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 592.122318 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.920543; longitude = -117.396486; captureRadius = 10; duration = 50; initialDepth = 590.213897; finalDepth = 592.122318; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:592.122318 # Seafloor depth:-632.122318 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 50.765818 meters # Minimum depth: 630.213897 meters looking forward 0.000000 meters along route # Maximum depth: 630.213897 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 590.213897 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.921085; longitude = -117.396378; captureRadius = 10; duration = 50; initialDepth = 584.689285; finalDepth = 590.213897; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:590.213897 # Seafloor depth:-630.213897 # 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 50.765818 meters # Minimum depth: 624.689285 meters looking forward 0.000000 meters along route # Maximum depth: 624.689285 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 584.689285 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.921536; longitude = -117.396287; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 585.706550; finalDepth = 584.689285; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:584.689285 # Seafloor depth:-624.689285 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 50.765818 meters # Minimum depth: 625.706550 meters looking forward 0.000000 meters along route # Maximum depth: 625.706550 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 585.706550 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.921534; longitude = -117.396340; captureRadius = 10; duration = 50; initialDepth = 584.966551; finalDepth = 585.706550; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:585.70655 # Seafloor depth:-625.706550 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 50.765818 meters # Minimum depth: 624.966551 meters looking forward 0.000000 meters along route # Maximum depth: 624.966551 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 584.966551 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.921505; longitude = -117.396981; captureRadius = 10; duration = 50; initialDepth = 581.298612; finalDepth = 584.966551; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:584.966551 # Seafloor depth:-624.966551 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 50.765818 meters # Minimum depth: 621.298612 meters looking forward 0.000000 meters along route # Maximum depth: 621.298612 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 581.298612 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.921476; longitude = -117.397622; captureRadius = 10; duration = 50; initialDepth = 584.179214; finalDepth = 581.298612; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:581.298612 # Seafloor depth:-621.298612 # 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 50.765818 meters # Minimum depth: 624.179214 meters looking forward 0.000000 meters along route # Maximum depth: 624.179214 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 584.179214 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.921445; longitude = -117.398316; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 586.732096; finalDepth = 584.179214; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:584.179214 # Seafloor depth:-624.179214 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 50.765818 meters # Minimum depth: 626.732096 meters looking forward 0.000000 meters along route # Maximum depth: 626.732096 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 586.732096 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.921355; longitude = -117.398333; captureRadius = 10; duration = 50; initialDepth = 596.127706; finalDepth = 586.732096; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:586.732096 # Seafloor depth:-626.732096 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 50.765818 meters # Minimum depth: 636.127706 meters looking forward 0.000000 meters along route # Maximum depth: 636.127706 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 596.127706 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.920889; longitude = -117.398423; captureRadius = 10; duration = 50; initialDepth = 599.427504; finalDepth = 596.127706; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:596.127706 # Seafloor depth:-636.127706 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 50.765818 meters # Minimum depth: 639.427504 meters looking forward 0.000000 meters along route # Maximum depth: 639.427504 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 599.427504 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.920408; longitude = -117.398516; captureRadius = 10; duration = 50; initialDepth = 600.798323; finalDepth = 599.427504; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:599.427504 # Seafloor depth:-639.427504 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 50.765818 meters # Minimum depth: 640.798323 meters looking forward 0.000000 meters along route # Maximum depth: 640.798323 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 600.798323 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.919867; longitude = -117.398620; captureRadius = 10; duration = 50; initialDepth = 608.363497; finalDepth = 600.798323; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:600.798323 # Seafloor depth:-640.798323 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 50.765818 meters # Minimum depth: 648.363497 meters looking forward 0.000000 meters along route # Maximum depth: 648.363497 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 608.363497 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.919326; longitude = -117.398724; captureRadius = 10; duration = 50; initialDepth = 615.334172; finalDepth = 608.363497; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:608.363497 # Seafloor depth:-648.363497 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 50.765818 meters # Minimum depth: 655.334172 meters looking forward 0.000000 meters along route # Maximum depth: 655.334172 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 615.334172 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.918784; longitude = -117.398828; captureRadius = 10; duration = 50; initialDepth = 618.192904; finalDepth = 615.334172; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:615.334172 # Seafloor depth:-655.334172 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 50.765818 meters # Minimum depth: 658.192904 meters looking forward 0.000000 meters along route # Maximum depth: 658.192904 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 618.192904 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.918243; longitude = -117.398932; captureRadius = 10; duration = 50; initialDepth = 617.805595; finalDepth = 618.192904; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:618.192904 # Seafloor depth:-658.192904 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 50.765818 meters # Minimum depth: 657.805595 meters looking forward 0.000000 meters along route # Maximum depth: 657.805595 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 617.805595 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.917702; longitude = -117.399037; captureRadius = 10; duration = 50; initialDepth = 616.970608; finalDepth = 617.805595; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:617.805595 # Seafloor depth:-657.805595 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 50.765818 meters # Minimum depth: 656.970608 meters looking forward 0.000000 meters along route # Maximum depth: 656.970608 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 616.970608 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.917161; longitude = -117.399141; captureRadius = 10; duration = 50; initialDepth = 616.871339; finalDepth = 616.970608; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:616.970608 # Seafloor depth:-656.970608 # 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 23 # Segment length 50.765818 meters # Minimum depth: 656.871339 meters looking forward 0.000000 meters along route # Maximum depth: 656.871339 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 616.871339 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.916619; longitude = -117.399245; captureRadius = 10; duration = 50; initialDepth = 611.576234; finalDepth = 616.871339; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:616.871339 # Seafloor depth:-656.871339 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 50.765818 meters # Minimum depth: 651.576234 meters looking forward 0.000000 meters along route # Maximum depth: 651.576234 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 611.576234 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.916078; longitude = -117.399349; captureRadius = 10; duration = 50; initialDepth = 611.234616; finalDepth = 611.576234; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:611.576234 # Seafloor depth:-651.576234 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 50.765818 meters # Minimum depth: 651.234616 meters looking forward 0.000000 meters along route # Maximum depth: 651.234616 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 611.234616 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915537; longitude = -117.399453; captureRadius = 10; duration = 50; initialDepth = 603.935096; finalDepth = 611.234616; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:611.234616 # Seafloor depth:-651.234616 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 50.765818 meters # Minimum depth: 643.935096 meters looking forward 0.000000 meters along route # Maximum depth: 643.935096 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 603.935096 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915062; longitude = -117.399545; captureRadius = 10; duration = 50; initialDepth = 595.901416; finalDepth = 603.935096; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:603.935096 # Seafloor depth:-643.935096 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 50.765818 meters # Minimum depth: 635.901416 meters looking forward 0.000000 meters along route # Maximum depth: 635.901416 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 595.901416 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914590; longitude = -117.399636; captureRadius = 10; duration = 50; initialDepth = 596.011668; finalDepth = 595.901416; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:595.901416 # Seafloor depth:-635.901416 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 50.765818 meters # Minimum depth: 636.011668 meters looking forward 0.000000 meters along route # Maximum depth: 636.011668 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 596.011668 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914048; longitude = -117.399740; captureRadius = 10; duration = 50; initialDepth = 596.112406; finalDepth = 596.011668; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:596.011668 # Seafloor depth:-636.011668 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 50.765818 meters # Minimum depth: 636.112406 meters looking forward 0.000000 meters along route # Maximum depth: 636.112406 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 596.112406 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913507; longitude = -117.399844; captureRadius = 10; duration = 50; initialDepth = 595.797121; finalDepth = 596.112406; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:596.112406 # Seafloor depth:-636.112406 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 50.765818 meters # Minimum depth: 635.797121 meters looking forward 0.000000 meters along route # Maximum depth: 635.797121 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 595.797121 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912966; longitude = -117.399948; captureRadius = 10; duration = 50; initialDepth = 596.253423; finalDepth = 595.797121; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:595.797121 # Seafloor depth:-635.797121 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 50.765818 meters # Minimum depth: 636.253423 meters looking forward 0.000000 meters along route # Maximum depth: 636.253423 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 596.253423 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912425; longitude = -117.400052; captureRadius = 10; duration = 50; initialDepth = 594.984338; finalDepth = 596.253423; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:596.253423 # Seafloor depth:-636.253423 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 50.765818 meters # Minimum depth: 634.984338 meters looking forward 0.000000 meters along route # Maximum depth: 634.984338 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 594.984338 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911883; longitude = -117.400157; captureRadius = 10; duration = 50; initialDepth = 595.964997; finalDepth = 594.984338; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:594.984338 # Seafloor depth:-634.984338 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 50.765818 meters # Minimum depth: 635.964997 meters looking forward 0.000000 meters along route # Maximum depth: 635.964997 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 595.964997 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911342; longitude = -117.400261; captureRadius = 10; duration = 50; initialDepth = 594.917146; finalDepth = 595.964997; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:595.964997 # Seafloor depth:-635.964997 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 50.765818 meters # Minimum depth: 634.917146 meters looking forward 0.000000 meters along route # Maximum depth: 634.917146 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 594.917146 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.910801; longitude = -117.400365; captureRadius = 10; duration = 50; initialDepth = 596.247398; finalDepth = 594.917146; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:594.917146 # Seafloor depth:-634.917146 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 50.765818 meters # Minimum depth: 636.247398 meters looking forward 0.000000 meters along route # Maximum depth: 636.247398 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 596.247398 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.910260; longitude = -117.400469; captureRadius = 10; duration = 50; initialDepth = 595.215458; finalDepth = 596.247398; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:596.247398 # Seafloor depth:-636.247398 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 50.765818 meters # Minimum depth: 635.215458 meters looking forward 0.000000 meters along route # Maximum depth: 635.215458 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 595.215458 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.909718; longitude = -117.400573; captureRadius = 10; duration = 50; initialDepth = 581.181311; finalDepth = 595.215458; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:595.215458 # Seafloor depth:-635.215458 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 50.765818 meters # Minimum depth: 621.181311 meters looking forward 0.000000 meters along route # Maximum depth: 621.181311 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 581.181311 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.909177; longitude = -117.400677; captureRadius = 10; duration = 50; initialDepth = 564.001312; finalDepth = 581.181311; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:581.181311 # Seafloor depth:-621.181311 # 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 50.765818 meters # Minimum depth: 604.001312 meters looking forward 0.000000 meters along route # Maximum depth: 604.001312 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 564.001312 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.908681; longitude = -117.400773; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 563.243886; finalDepth = 564.001312; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:564.001312 # Seafloor depth:-604.001312 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 50.765818 meters # Minimum depth: 603.243886 meters looking forward 0.000000 meters along route # Maximum depth: 603.243886 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 563.243886 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.908703; longitude = -117.400666; captureRadius = 10; duration = 50; initialDepth = 565.152627; finalDepth = 563.243886; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:563.243886 # Seafloor depth:-603.243886 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 50.765818 meters # Minimum depth: 605.152627 meters looking forward 0.000000 meters along route # Maximum depth: 605.152627 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 565.152627 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.908834; longitude = -117.400025; captureRadius = 10; duration = 50; initialDepth = 565.576183; finalDepth = 565.152627; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:565.152627 # Seafloor depth:-605.152627 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 50.765818 meters # Minimum depth: 605.576183 meters looking forward 0.000000 meters along route # Maximum depth: 605.576183 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 565.576183 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.908966; longitude = -117.399384; captureRadius = 10; duration = 50; initialDepth = 567.172769; finalDepth = 565.576183; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:565.576183 # Seafloor depth:-605.576183 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 50.765818 meters # Minimum depth: 607.172769 meters looking forward 0.000000 meters along route # Maximum depth: 607.172769 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 567.172769 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.909097; longitude = -117.398743; captureRadius = 10; duration = 50; initialDepth = 562.863992; finalDepth = 567.172769; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:567.172769 # Seafloor depth:-607.172769 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 50.765818 meters # Minimum depth: 602.863992 meters looking forward 0.000000 meters along route # Maximum depth: 602.863992 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 562.863992 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.909228; longitude = -117.398103; captureRadius = 10; duration = 50; initialDepth = 561.823410; finalDepth = 562.863992; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:562.863992 # Seafloor depth:-602.863992 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 50.765818 meters # Minimum depth: 601.823410 meters looking forward 0.000000 meters along route # Maximum depth: 601.823410 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 561.823410 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.909360; longitude = -117.397462; captureRadius = 10; duration = 50; initialDepth = 562.447602; finalDepth = 561.823410; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:561.82341 # Seafloor depth:-601.823410 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 50.765818 meters # Minimum depth: 602.447602 meters looking forward 0.000000 meters along route # Maximum depth: 602.447602 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 562.447602 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.909491; longitude = -117.396821; captureRadius = 10; duration = 50; initialDepth = 558.905206; finalDepth = 562.447602; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:562.447602 # Seafloor depth:-602.447602 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 50.765818 meters # Minimum depth: 598.905206 meters looking forward 0.000000 meters along route # Maximum depth: 598.905206 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 558.905206 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.909623; longitude = -117.396180; captureRadius = 10; duration = 50; initialDepth = 557.644922; finalDepth = 558.905206; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:558.905206 # Seafloor depth:-598.905206 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 50.765818 meters # Minimum depth: 597.644922 meters looking forward 0.000000 meters along route # Maximum depth: 597.644922 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 557.644922 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.909754; longitude = -117.395539; captureRadius = 10; duration = 50; initialDepth = 560.438975; finalDepth = 557.644922; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:557.644922 # Seafloor depth:-597.644922 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 50.765818 meters # Minimum depth: 600.438975 meters looking forward 0.000000 meters along route # Maximum depth: 600.438975 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 560.438975 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.909885; longitude = -117.394898; captureRadius = 10; duration = 50; initialDepth = 560.266816; finalDepth = 560.438975; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:560.438975 # Seafloor depth:-600.438975 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 50.765818 meters # Minimum depth: 600.266816 meters looking forward 0.000000 meters along route # Maximum depth: 600.266816 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 560.266816 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.910017; longitude = -117.394257; captureRadius = 10; duration = 50; initialDepth = 562.318368; finalDepth = 560.266816; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:560.266816 # Seafloor depth:-600.266816 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 50.765818 meters # Minimum depth: 602.318368 meters looking forward 0.000000 meters along route # Maximum depth: 602.318368 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 562.318368 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.910148; longitude = -117.393616; captureRadius = 10; duration = 50; initialDepth = 560.810417; finalDepth = 562.318368; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:562.318368 # Seafloor depth:-602.318368 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 50.765818 meters # Minimum depth: 600.810417 meters looking forward 0.000000 meters along route # Maximum depth: 600.810417 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 560.810417 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.910279; longitude = -117.392975; captureRadius = 10; duration = 50; initialDepth = 561.767563; finalDepth = 560.810417; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:560.810417 # Seafloor depth:-600.810417 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 50.765818 meters # Minimum depth: 601.767563 meters looking forward 0.000000 meters along route # Maximum depth: 601.767563 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 561.767563 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.910411; longitude = -117.392334; captureRadius = 10; duration = 50; initialDepth = 572.572774; finalDepth = 561.767563; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:561.767563 # Seafloor depth:-601.767563 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 50.765818 meters # Minimum depth: 612.572774 meters looking forward 0.000000 meters along route # Maximum depth: 612.572774 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 572.572774 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.910530; longitude = -117.391751; captureRadius = 10; duration = 50; initialDepth = 582.857542; finalDepth = 572.572774; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:572.572774 # Seafloor depth:-612.572774 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 50.765818 meters # Minimum depth: 622.857542 meters looking forward 0.000000 meters along route # Maximum depth: 622.857542 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 582.857542 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.910641; longitude = -117.391213; captureRadius = 10; duration = 50; initialDepth = 579.904632; finalDepth = 582.857542; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:582.857542 # Seafloor depth:-622.857542 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 50.765818 meters # Minimum depth: 619.904632 meters looking forward 0.000000 meters along route # Maximum depth: 619.904632 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 579.904632 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.910772; longitude = -117.390572; captureRadius = 10; duration = 50; initialDepth = 578.756655; finalDepth = 579.904632; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:579.904632 # Seafloor depth:-619.904632 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 50.765818 meters # Minimum depth: 618.756655 meters looking forward 0.000000 meters along route # Maximum depth: 618.756655 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 578.756655 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.910903; longitude = -117.389931; captureRadius = 10; duration = 50; initialDepth = 575.819062; finalDepth = 578.756655; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:578.756655 # Seafloor depth:-618.756655 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 50.765818 meters # Minimum depth: 615.819062 meters looking forward 0.000000 meters along route # Maximum depth: 615.819062 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 575.819062 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911035; longitude = -117.389290; captureRadius = 10; duration = 50; initialDepth = 573.575534; finalDepth = 575.819062; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:575.819062 # Seafloor depth:-615.819062 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 50.765818 meters # Minimum depth: 613.575534 meters looking forward 0.000000 meters along route # Maximum depth: 613.575534 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 573.575534 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911166; longitude = -117.388649; captureRadius = 10; duration = 50; initialDepth = 578.035926; finalDepth = 573.575534; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:573.575534 # Seafloor depth:-613.575534 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 50.765818 meters # Minimum depth: 618.035926 meters looking forward 0.000000 meters along route # Maximum depth: 618.035926 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 578.035926 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911298; longitude = -117.388008; captureRadius = 10; duration = 50; initialDepth = 580.563215; finalDepth = 578.035926; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:578.035926 # Seafloor depth:-618.035926 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 50.765818 meters # Minimum depth: 620.563215 meters looking forward 0.000000 meters along route # Maximum depth: 620.563215 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 580.563215 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911429; longitude = -117.387367; captureRadius = 10; duration = 50; initialDepth = 582.630001; finalDepth = 580.563215; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:580.563215 # Seafloor depth:-620.563215 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 50.765818 meters # Minimum depth: 622.630001 meters looking forward 0.000000 meters along route # Maximum depth: 622.630001 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 582.630001 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911560; longitude = -117.386726; captureRadius = 10; duration = 50; initialDepth = 584.005811; finalDepth = 582.630001; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:582.630001 # Seafloor depth:-622.630001 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 50.765818 meters # Minimum depth: 624.005811 meters looking forward 0.000000 meters along route # Maximum depth: 624.005811 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 584.005811 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911692; longitude = -117.386085; captureRadius = 10; duration = 50; initialDepth = 584.997130; finalDepth = 584.005811; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:584.005811 # Seafloor depth:-624.005811 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 50.765818 meters # Minimum depth: 624.997130 meters looking forward 0.000000 meters along route # Maximum depth: 624.997130 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 584.997130 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911823; longitude = -117.385444; captureRadius = 10; duration = 50; initialDepth = 588.968132; finalDepth = 584.997130; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:584.99713 # Seafloor depth:-624.997130 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 50.765818 meters # Minimum depth: 628.968132 meters looking forward 0.000000 meters along route # Maximum depth: 628.968132 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 588.968132 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911955; longitude = -117.384803; captureRadius = 10; duration = 50; initialDepth = 590.116669; finalDepth = 588.968132; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:588.968132 # Seafloor depth:-628.968132 # 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 50.765818 meters # Minimum depth: 630.116669 meters looking forward 0.000000 meters along route # Maximum depth: 630.116669 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 590.116669 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912064; longitude = -117.384269; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 586.766436; finalDepth = 590.116669; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:590.116669 # Seafloor depth:-630.116669 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 50.765818 meters # Minimum depth: 626.766436 meters looking forward 0.000000 meters along route # Maximum depth: 626.766436 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 586.766436 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912027; longitude = -117.383682; captureRadius = 10; duration = 50; initialDepth = 588.391039; finalDepth = 586.766436; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:586.766436 # Seafloor depth:-626.766436 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 50.765818 meters # Minimum depth: 628.391039 meters looking forward 0.000000 meters along route # Maximum depth: 628.391039 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 588.391039 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911986; longitude = -117.383041; captureRadius = 10; duration = 50; initialDepth = 587.968538; finalDepth = 588.391039; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:588.391039 # Seafloor depth:-628.391039 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 50.765818 meters # Minimum depth: 627.968538 meters looking forward 0.000000 meters along route # Maximum depth: 627.968538 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 587.968538 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911945; longitude = -117.382400; captureRadius = 10; duration = 50; initialDepth = 584.360199; finalDepth = 587.968538; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:587.968538 # Seafloor depth:-627.968538 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 50.765818 meters # Minimum depth: 624.360199 meters looking forward 0.000000 meters along route # Maximum depth: 624.360199 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 584.360199 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911904; longitude = -117.381759; captureRadius = 10; duration = 50; initialDepth = 582.413745; finalDepth = 584.360199; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:584.360199 # Seafloor depth:-624.360199 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 50.765818 meters # Minimum depth: 622.413745 meters looking forward 0.000000 meters along route # Maximum depth: 622.413745 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 582.413745 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911863; longitude = -117.381118; captureRadius = 10; duration = 50; initialDepth = 578.155486; finalDepth = 582.413745; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:582.413745 # Seafloor depth:-622.413745 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 50.765818 meters # Minimum depth: 618.155486 meters looking forward 0.000000 meters along route # Maximum depth: 618.155486 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 578.155486 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911822; longitude = -117.380477; captureRadius = 10; duration = 50; initialDepth = 575.603334; finalDepth = 578.155486; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:578.155486 # Seafloor depth:-618.155486 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 50.765818 meters # Minimum depth: 615.603334 meters looking forward 0.000000 meters along route # Maximum depth: 615.603334 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 575.603334 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911781; longitude = -117.379836; captureRadius = 10; duration = 50; initialDepth = 575.632366; finalDepth = 575.603334; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:575.603334 # Seafloor depth:-615.603334 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 50.765818 meters # Minimum depth: 615.632366 meters looking forward 0.000000 meters along route # Maximum depth: 615.632366 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 575.632366 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911740; longitude = -117.379195; captureRadius = 10; duration = 50; initialDepth = 576.533279; finalDepth = 575.632366; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:575.632366 # Seafloor depth:-615.632366 # 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 50.765818 meters # Minimum depth: 616.533279 meters looking forward 0.000000 meters along route # Maximum depth: 616.533279 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 576.533279 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911703; longitude = -117.378607; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 575.744414; finalDepth = 576.533279; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:576.533279 # Seafloor depth:-616.533279 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 50.765818 meters # Minimum depth: 615.744414 meters looking forward 0.000000 meters along route # Maximum depth: 615.744414 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 575.744414 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911679; longitude = -117.378394; captureRadius = 10; duration = 50; initialDepth = 575.362594; finalDepth = 575.744414; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:575.744414 # Seafloor depth:-615.744414 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 50.765818 meters # Minimum depth: 615.362594 meters looking forward 0.000000 meters along route # Maximum depth: 615.362594 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 575.362594 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911613; longitude = -117.377819; captureRadius = 10; duration = 50; initialDepth = 574.097084; finalDepth = 575.362594; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:575.362594 # Seafloor depth:-615.362594 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 50.765818 meters # Minimum depth: 614.097084 meters looking forward 0.000000 meters along route # Maximum depth: 614.097084 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 574.097084 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911550; longitude = -117.377272; captureRadius = 10; duration = 50; initialDepth = 569.158342; finalDepth = 574.097084; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:574.097084 # Seafloor depth:-614.097084 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 50.765818 meters # Minimum depth: 609.158342 meters looking forward 0.000000 meters along route # Maximum depth: 609.158342 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 569.158342 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911477; longitude = -117.376631; captureRadius = 10; duration = 50; initialDepth = 568.094191; finalDepth = 569.158342; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:569.158342 # Seafloor depth:-609.158342 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 50.765818 meters # Minimum depth: 608.094191 meters looking forward 0.000000 meters along route # Maximum depth: 608.094191 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 568.094191 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911403; longitude = -117.375990; captureRadius = 10; duration = 50; initialDepth = 565.451499; finalDepth = 568.094191; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:568.094191 # Seafloor depth:-608.094191 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 50.765818 meters # Minimum depth: 605.451499 meters looking forward 0.000000 meters along route # Maximum depth: 605.451499 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 565.451499 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911342; longitude = -117.375455; captureRadius = 10; duration = 50; initialDepth = 557.425464; finalDepth = 565.451499; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:565.451499 # Seafloor depth:-605.451499 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 50.765818 meters # Minimum depth: 597.425464 meters looking forward 0.000000 meters along route # Maximum depth: 597.425464 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 557.425464 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911275; longitude = -117.374869; captureRadius = 10; duration = 50; initialDepth = 556.717256; finalDepth = 557.425464; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:557.425464 # Seafloor depth:-597.425464 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 50.765818 meters # Minimum depth: 596.717256 meters looking forward 0.000000 meters along route # Maximum depth: 596.717256 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 556.717256 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911202; longitude = -117.374228; captureRadius = 10; duration = 50; initialDepth = 558.174411; finalDepth = 556.717256; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:556.717256 # Seafloor depth:-596.717256 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 50.765818 meters # Minimum depth: 598.174411 meters looking forward 0.000000 meters along route # Maximum depth: 598.174411 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 558.174411 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911128; longitude = -117.373587; captureRadius = 10; duration = 50; initialDepth = 558.354065; finalDepth = 558.174411; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:558.174411 # Seafloor depth:-598.174411 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 50.765818 meters # Minimum depth: 598.354065 meters looking forward 0.000000 meters along route # Maximum depth: 598.354065 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 558.354065 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911055; longitude = -117.372946; captureRadius = 10; duration = 50; initialDepth = 556.485750; finalDepth = 558.354065; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:558.354065 # Seafloor depth:-598.354065 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 50.765818 meters # Minimum depth: 596.485750 meters looking forward 0.000000 meters along route # Maximum depth: 596.485750 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 556.485750 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.910982; longitude = -117.372305; captureRadius = 10; duration = 50; initialDepth = 555.095063; finalDepth = 556.485750; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:556.48575 # Seafloor depth:-596.485750 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 50.765818 meters # Minimum depth: 595.095063 meters looking forward 0.000000 meters along route # Maximum depth: 595.095063 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 555.095063 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.910908; longitude = -117.371664; captureRadius = 10; duration = 50; initialDepth = 553.046017; finalDepth = 555.095063; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:555.095063 # Seafloor depth:-595.095063 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 50.765818 meters # Minimum depth: 593.046017 meters looking forward 0.000000 meters along route # Maximum depth: 593.046017 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 553.046017 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.910835; longitude = -117.371023; captureRadius = 10; duration = 50; initialDepth = 551.818253; finalDepth = 553.046017; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:553.046017 # Seafloor depth:-593.046017 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 50.765818 meters # Minimum depth: 591.818253 meters looking forward 0.000000 meters along route # Maximum depth: 591.818253 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 551.818253 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.910762; longitude = -117.370382; captureRadius = 10; duration = 50; initialDepth = 550.937777; finalDepth = 551.818253; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:551.818253 # Seafloor depth:-591.818253 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 50.765818 meters # Minimum depth: 590.937777 meters looking forward 0.000000 meters along route # Maximum depth: 590.937777 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 550.937777 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.910688; longitude = -117.369741; captureRadius = 10; duration = 50; initialDepth = 549.654022; finalDepth = 550.937777; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:550.937777 # Seafloor depth:-590.937777 # 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 50.765818 meters # Minimum depth: 589.654022 meters looking forward 0.000000 meters along route # Maximum depth: 589.654022 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 549.654022 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.910621; longitude = -117.369154; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 548.705117; finalDepth = 549.654022; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:549.654022 # Seafloor depth:-589.654022 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 50.765818 meters # Minimum depth: 588.705117 meters looking forward 0.000000 meters along route # Maximum depth: 588.705117 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 548.705117 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.910475; longitude = -117.368620; captureRadius = 10; duration = 50; initialDepth = 550.684644; finalDepth = 548.705117; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:548.705117 # Seafloor depth:-588.705117 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 50.765818 meters # Minimum depth: 590.684644 meters looking forward 0.000000 meters along route # Maximum depth: 590.684644 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 550.684644 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.910300; longitude = -117.367979; captureRadius = 10; duration = 50; initialDepth = 546.608447; finalDepth = 550.684644; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:550.684644 # Seafloor depth:-590.684644 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 50.765818 meters # Minimum depth: 586.608447 meters looking forward 0.000000 meters along route # Maximum depth: 586.608447 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 546.608447 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.910124; longitude = -117.367333; captureRadius = 10; duration = 50; initialDepth = 545.369973; finalDepth = 546.608447; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:546.608447 # Seafloor depth:-586.608447 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 50.765818 meters # Minimum depth: 585.369973 meters looking forward 0.000000 meters along route # Maximum depth: 585.369973 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 545.369973 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.909951; longitude = -117.366697; captureRadius = 10; duration = 50; initialDepth = 543.428033; finalDepth = 545.369973; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:545.369973 # Seafloor depth:-585.369973 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 50.765818 meters # Minimum depth: 583.428033 meters looking forward 0.000000 meters along route # Maximum depth: 583.428033 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 543.428033 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.909776; longitude = -117.366056; captureRadius = 10; duration = 50; initialDepth = 538.868108; finalDepth = 543.428033; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:543.428033 # Seafloor depth:-583.428033 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 50.765818 meters # Minimum depth: 578.868108 meters looking forward 0.000000 meters along route # Maximum depth: 578.868108 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 538.868108 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.909601; longitude = -117.365415; captureRadius = 10; duration = 50; initialDepth = 533.068058; finalDepth = 538.868108; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:538.868108 # Seafloor depth:-578.868108 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 50.765818 meters # Minimum depth: 573.068058 meters looking forward 0.000000 meters along route # Maximum depth: 573.068058 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 533.068058 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.909448; longitude = -117.364853; captureRadius = 10; duration = 50; initialDepth = 527.394382; finalDepth = 533.068058; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:533.068058 # Seafloor depth:-573.068058 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 50.765818 meters # Minimum depth: 567.394382 meters looking forward 0.000000 meters along route # Maximum depth: 567.394382 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 527.394382 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.909295; longitude = -117.364293; captureRadius = 10; duration = 50; initialDepth = 521.586337; finalDepth = 527.394382; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:527.394382 # Seafloor depth:-567.394382 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 50.765818 meters # Minimum depth: 561.586337 meters looking forward 0.000000 meters along route # Maximum depth: 561.586337 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 521.586337 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.909120; longitude = -117.363652; captureRadius = 10; duration = 50; initialDepth = 515.902592; finalDepth = 521.586337; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:521.586337 # Seafloor depth:-561.586337 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 50.765818 meters # Minimum depth: 555.902592 meters looking forward 0.000000 meters along route # Maximum depth: 555.902592 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 515.902592 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.908945; longitude = -117.363011; captureRadius = 10; duration = 50; initialDepth = 512.913558; finalDepth = 515.902592; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:515.902592 # Seafloor depth:-555.902592 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 50.765818 meters # Minimum depth: 552.913558 meters looking forward 0.000000 meters along route # Maximum depth: 552.913558 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 512.913558 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.908771; longitude = -117.362370; captureRadius = 10; duration = 50; initialDepth = 513.723571; finalDepth = 512.913558; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:512.913558 # Seafloor depth:-552.913558 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 50.765818 meters # Minimum depth: 553.723571 meters looking forward 0.000000 meters along route # Maximum depth: 553.723571 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 513.723571 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.908596; longitude = -117.361730; captureRadius = 10; duration = 50; initialDepth = 523.725801; finalDepth = 513.723571; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:513.723571 # Seafloor depth:-553.723571 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 50.765818 meters # Minimum depth: 563.725801 meters looking forward 0.000000 meters along route # Maximum depth: 563.725801 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 523.725801 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.908421; longitude = -117.361089; captureRadius = 10; duration = 50; initialDepth = 528.585480; finalDepth = 523.725801; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:523.725801 # Seafloor depth:-563.725801 # 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 50.765818 meters # Minimum depth: 568.585480 meters looking forward 0.000000 meters along route # Maximum depth: 568.585480 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 528.585480 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.908275; longitude = -117.360554; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 533.370449; finalDepth = 528.585480; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:528.58548 # Seafloor depth:-568.585480 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 50.765818 meters # Minimum depth: 573.370449 meters looking forward 0.000000 meters along route # Maximum depth: 573.370449 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 533.370449 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.908184; longitude = -117.359967; captureRadius = 10; duration = 50; initialDepth = 532.425742; finalDepth = 533.370449; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:533.370449 # Seafloor depth:-573.370449 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 50.765818 meters # Minimum depth: 572.425742 meters looking forward 0.000000 meters along route # Maximum depth: 572.425742 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 532.425742 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.908095; longitude = -117.359391; captureRadius = 10; duration = 50; initialDepth = 532.394455; finalDepth = 532.425742; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:532.425742 # Seafloor depth:-572.425742 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 50.765818 meters # Minimum depth: 572.394455 meters looking forward 0.000000 meters along route # Maximum depth: 572.394455 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 532.394455 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.908010; longitude = -117.358845; captureRadius = 10; duration = 50; initialDepth = 531.629802; finalDepth = 532.394455; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:532.394455 # Seafloor depth:-572.394455 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 50.765818 meters # Minimum depth: 571.629802 meters looking forward 0.000000 meters along route # Maximum depth: 571.629802 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 531.629802 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.907911; longitude = -117.358204; captureRadius = 10; duration = 50; initialDepth = 530.478821; finalDepth = 531.629802; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:531.629802 # Seafloor depth:-571.629802 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 50.765818 meters # Minimum depth: 570.478821 meters looking forward 0.000000 meters along route # Maximum depth: 570.478821 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 530.478821 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.907824; longitude = -117.357644; captureRadius = 10; duration = 50; initialDepth = 529.503472; finalDepth = 530.478821; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:530.478821 # Seafloor depth:-570.478821 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 50.765818 meters # Minimum depth: 569.503472 meters looking forward 0.000000 meters along route # Maximum depth: 569.503472 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 529.503472 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.907737; longitude = -117.357083; captureRadius = 10; duration = 50; initialDepth = 529.089265; finalDepth = 529.503472; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:529.503472 # Seafloor depth:-569.503472 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 50.765818 meters # Minimum depth: 569.089265 meters looking forward 0.000000 meters along route # Maximum depth: 569.089265 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 529.089265 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.907638; longitude = -117.356442; captureRadius = 10; duration = 50; initialDepth = 526.078545; finalDepth = 529.089265; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:529.089265 # Seafloor depth:-569.089265 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 50.765818 meters # Minimum depth: 566.078545 meters looking forward 0.000000 meters along route # Maximum depth: 566.078545 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 526.078545 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.907553; longitude = -117.355898; captureRadius = 10; duration = 50; initialDepth = 522.151274; finalDepth = 526.078545; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:526.078545 # Seafloor depth:-566.078545 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 50.765818 meters # Minimum depth: 562.151274 meters looking forward 0.000000 meters along route # Maximum depth: 562.151274 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 522.151274 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.907464; longitude = -117.355320; captureRadius = 10; duration = 50; initialDepth = 513.411377; finalDepth = 522.151274; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:522.151274 # Seafloor depth:-562.151274 # 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 50.765818 meters # Minimum depth: 553.411377 meters looking forward 0.000000 meters along route # Maximum depth: 553.411377 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 513.411377 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.907373; longitude = -117.354733; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 511.639665; finalDepth = 513.411377; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:513.411377 # Seafloor depth:-553.411377 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 50.765818 meters # Minimum depth: 551.639665 meters looking forward 0.000000 meters along route # Maximum depth: 551.639665 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 511.639665 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.907268; longitude = -117.354359; captureRadius = 10; duration = 50; initialDepth = 494.188995; finalDepth = 511.639665; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:511.639665 # Seafloor depth:-551.639665 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 50.765818 meters # Minimum depth: 534.188995 meters looking forward 0.000000 meters along route # Maximum depth: 534.188995 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 494.188995 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.907087; longitude = -117.353718; captureRadius = 10; duration = 50; initialDepth = 487.277167; finalDepth = 494.188995; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:494.188995 # Seafloor depth:-534.188995 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 50.765818 meters # Minimum depth: 527.277167 meters looking forward 0.000000 meters along route # Maximum depth: 527.277167 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 487.277167 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.906907; longitude = -117.353077; captureRadius = 10; duration = 50; initialDepth = 483.243321; finalDepth = 487.277167; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:487.277167 # Seafloor depth:-527.277167 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 50.765818 meters # Minimum depth: 523.243321 meters looking forward 0.000000 meters along route # Maximum depth: 523.243321 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 483.243321 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.906742; longitude = -117.352490; captureRadius = 10; duration = 50; initialDepth = 480.545491; finalDepth = 483.243321; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:483.243321 # Seafloor depth:-523.243321 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 50.765818 meters # Minimum depth: 520.545491 meters looking forward 0.000000 meters along route # Maximum depth: 520.545491 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 480.545491 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.906591; longitude = -117.351955; captureRadius = 10; duration = 50; initialDepth = 480.923218; finalDepth = 480.545491; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:480.545491 # Seafloor depth:-520.545491 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 50.765818 meters # Minimum depth: 520.923218 meters looking forward 0.000000 meters along route # Maximum depth: 520.923218 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 480.923218 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.906411; longitude = -117.351314; captureRadius = 10; duration = 50; initialDepth = 473.766806; finalDepth = 480.923218; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:480.923218 # Seafloor depth:-520.923218 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 50.765818 meters # Minimum depth: 513.766806 meters looking forward 0.000000 meters along route # Maximum depth: 513.766806 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 473.766806 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.906230; longitude = -117.350673; captureRadius = 10; duration = 50; initialDepth = 483.136939; finalDepth = 473.766806; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:473.766806 # Seafloor depth:-513.766806 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 50.765818 meters # Minimum depth: 523.136939 meters looking forward 0.000000 meters along route # Maximum depth: 523.136939 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 483.136939 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.906065; longitude = -117.350087; captureRadius = 10; duration = 50; initialDepth = 476.189135; finalDepth = 483.136939; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:483.136939 # Seafloor depth:-523.136939 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 50.765818 meters # Minimum depth: 516.189135 meters looking forward 0.000000 meters along route # Maximum depth: 516.189135 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 476.189135 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.905914; longitude = -117.349552; captureRadius = 10; duration = 50; initialDepth = 480.018784; finalDepth = 476.189135; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:476.189135 # Seafloor depth:-516.189135 # 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 50.765818 meters # Minimum depth: 520.018784 meters looking forward 0.000000 meters along route # Maximum depth: 520.018784 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 480.018784 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.905749; longitude = -117.348964; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 476.622298; finalDepth = 480.018784; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:480.018784 # Seafloor depth:-520.018784 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 50.765818 meters # Minimum depth: 516.622298 meters looking forward 0.000000 meters along route # Maximum depth: 516.622298 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 476.622298 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.905524; longitude = -117.348682; captureRadius = 10; duration = 50; initialDepth = 473.672974; finalDepth = 476.622298; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:476.622298 # Seafloor depth:-516.622298 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 50.765818 meters # Minimum depth: 513.672974 meters looking forward 0.000000 meters along route # Maximum depth: 513.672974 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 473.672974 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.905194; longitude = -117.348270; captureRadius = 10; duration = 50; initialDepth = 472.708897; finalDepth = 473.672974; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:473.672974 # Seafloor depth:-513.672974 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 50.765818 meters # Minimum depth: 512.708897 meters looking forward 0.000000 meters along route # Maximum depth: 512.708897 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 472.708897 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.904809; longitude = -117.347789; captureRadius = 10; duration = 50; initialDepth = 476.114292; finalDepth = 472.708897; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:472.708897 # Seafloor depth:-512.708897 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 50.765818 meters # Minimum depth: 516.114292 meters looking forward 0.000000 meters along route # Maximum depth: 516.114292 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 476.114292 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.904425; longitude = -117.347308; captureRadius = 10; duration = 50; initialDepth = 487.930928; finalDepth = 476.114292; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:476.114292 # Seafloor depth:-516.114292 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 50.765818 meters # Minimum depth: 527.930928 meters looking forward 0.000000 meters along route # Maximum depth: 527.930928 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 487.930928 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.904035; longitude = -117.346822; captureRadius = 10; duration = 50; initialDepth = 499.353296; finalDepth = 487.930928; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:487.930928 # Seafloor depth:-527.930928 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 50.765818 meters # Minimum depth: 539.353296 meters looking forward 0.000000 meters along route # Maximum depth: 539.353296 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 499.353296 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.903629; longitude = -117.346314; captureRadius = 10; duration = 50; initialDepth = 502.108475; finalDepth = 499.353296; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:499.353296 # Seafloor depth:-539.353296 # 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 15 # Segment length 50.765818 meters # Minimum depth: 542.108475 meters looking forward 0.000000 meters along route # Maximum depth: 542.108475 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 502.108475 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.903314; longitude = -117.345920; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 500.700216; finalDepth = 502.108475; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:502.108475 # Seafloor depth:-542.108475 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 50.765818 meters # Minimum depth: 540.700216 meters looking forward 0.000000 meters along route # Maximum depth: 540.700216 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 500.700216 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.903120; longitude = -117.345546; captureRadius = 10; duration = 50; initialDepth = 499.083229; finalDepth = 500.700216; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:500.700216 # Seafloor depth:-540.700216 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 50.765818 meters # Minimum depth: 539.083229 meters looking forward 0.000000 meters along route # Maximum depth: 539.083229 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 499.083229 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.902870; longitude = -117.345065; captureRadius = 10; duration = 50; initialDepth = 498.276155; finalDepth = 499.083229; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:499.083229 # Seafloor depth:-539.083229 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 50.765818 meters # Minimum depth: 538.276155 meters looking forward 0.000000 meters along route # Maximum depth: 538.276155 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 498.276155 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.902620; longitude = -117.344585; captureRadius = 10; duration = 50; initialDepth = 498.908907; finalDepth = 498.276155; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:498.276155 # Seafloor depth:-538.276155 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 50.765818 meters # Minimum depth: 538.908907 meters looking forward 0.000000 meters along route # Maximum depth: 538.908907 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 498.908907 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.902370; longitude = -117.344104; captureRadius = 10; duration = 50; initialDepth = 497.530285; finalDepth = 498.908907; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:498.908907 # Seafloor depth:-538.908907 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 50.765818 meters # Minimum depth: 537.530285 meters looking forward 0.000000 meters along route # Maximum depth: 537.530285 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 497.530285 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.902120; longitude = -117.343623; captureRadius = 10; duration = 50; initialDepth = 497.362701; finalDepth = 497.530285; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:497.530285 # Seafloor depth:-537.530285 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 50.765818 meters # Minimum depth: 537.362701 meters looking forward 0.000000 meters along route # Maximum depth: 537.362701 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 497.362701 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.901870; longitude = -117.343142; captureRadius = 10; duration = 50; initialDepth = 495.050172; finalDepth = 497.362701; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:497.362701 # Seafloor depth:-537.362701 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 50.765818 meters # Minimum depth: 535.050172 meters looking forward 0.000000 meters along route # Maximum depth: 535.050172 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 495.050172 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.901621; longitude = -117.342662; captureRadius = 10; duration = 50; initialDepth = 493.577277; finalDepth = 495.050172; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:495.050172 # Seafloor depth:-535.050172 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 50.765818 meters # Minimum depth: 533.577277 meters looking forward 0.000000 meters along route # Maximum depth: 533.577277 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 493.577277 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.901371; longitude = -117.342181; captureRadius = 10; duration = 50; initialDepth = 488.066181; finalDepth = 493.577277; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:493.577277 # Seafloor depth:-533.577277 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 50.765818 meters # Minimum depth: 528.066181 meters looking forward 0.000000 meters along route # Maximum depth: 528.066181 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 488.066181 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.901121; longitude = -117.341700; captureRadius = 10; duration = 50; initialDepth = 484.833379; finalDepth = 488.066181; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:488.066181 # Seafloor depth:-528.066181 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 50.765818 meters # Minimum depth: 524.833379 meters looking forward 0.000000 meters along route # Maximum depth: 524.833379 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 484.833379 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.900871; longitude = -117.341220; captureRadius = 10; duration = 50; initialDepth = 483.353147; finalDepth = 484.833379; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:484.833379 # Seafloor depth:-524.833379 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 50.765818 meters # Minimum depth: 523.353147 meters looking forward 0.000000 meters along route # Maximum depth: 523.353147 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 483.353147 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.900622; longitude = -117.340739; captureRadius = 10; duration = 50; initialDepth = 482.997173; finalDepth = 483.353147; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:483.353147 # Seafloor depth:-523.353147 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 50.765818 meters # Minimum depth: 522.997173 meters looking forward 0.000000 meters along route # Maximum depth: 522.997173 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 482.997173 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.900372; longitude = -117.340258; captureRadius = 10; duration = 50; initialDepth = 485.726126; finalDepth = 482.997173; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:482.997173 # Seafloor depth:-522.997173 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 50.765818 meters # Minimum depth: 525.726126 meters looking forward 0.000000 meters along route # Maximum depth: 525.726126 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 485.726126 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.900111; longitude = -117.339757; captureRadius = 10; duration = 50; initialDepth = 491.997296; finalDepth = 485.726126; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:485.726126 # Seafloor depth:-525.726126 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 50.765818 meters # Minimum depth: 531.997296 meters looking forward 0.000000 meters along route # Maximum depth: 531.997296 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 491.997296 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.899872; longitude = -117.339297; captureRadius = 10; duration = 50; initialDepth = 496.419880; finalDepth = 491.997296; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:491.997296 # Seafloor depth:-531.997296 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 50.765818 meters # Minimum depth: 536.419880 meters looking forward 0.000000 meters along route # Maximum depth: 536.419880 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 496.419880 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.899623; longitude = -117.338816; captureRadius = 10; duration = 50; initialDepth = 498.457626; finalDepth = 496.419880; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:496.41988 # Seafloor depth:-536.419880 # 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 14 # Segment length 50.765818 meters # Minimum depth: 538.457626 meters looking forward 0.000000 meters along route # Maximum depth: 538.457626 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 498.457626 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.899345; longitude = -117.338282; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 500.691972; finalDepth = 498.457626; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:498.457626 # Seafloor depth:-538.457626 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 50.765818 meters # Minimum depth: 540.691972 meters looking forward 0.000000 meters along route # Maximum depth: 540.691972 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 500.691972 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.899299; longitude = -117.338105; captureRadius = 10; duration = 50; initialDepth = 493.657225; finalDepth = 500.691972; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:500.691972 # Seafloor depth:-540.691972 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 50.765818 meters # Minimum depth: 533.657225 meters looking forward 0.000000 meters along route # Maximum depth: 533.657225 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 493.657225 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.899164; longitude = -117.337579; captureRadius = 10; duration = 50; initialDepth = 497.345301; finalDepth = 493.657225; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:493.657225 # Seafloor depth:-533.657225 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 50.765818 meters # Minimum depth: 537.345301 meters looking forward 0.000000 meters along route # Maximum depth: 537.345301 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 497.345301 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.899029; longitude = -117.337053; captureRadius = 10; duration = 50; initialDepth = 489.030732; finalDepth = 497.345301; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:497.345301 # Seafloor depth:-537.345301 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 50.765818 meters # Minimum depth: 529.030732 meters looking forward 0.000000 meters along route # Maximum depth: 529.030732 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 489.030732 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.898864; longitude = -117.336413; captureRadius = 10; duration = 50; initialDepth = 487.415314; finalDepth = 489.030732; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:489.030732 # Seafloor depth:-529.030732 # 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 50.765818 meters # Minimum depth: 527.415314 meters looking forward 0.000000 meters along route # Maximum depth: 527.415314 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 487.415314 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.898713; longitude = -117.335825; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 486.469396; finalDepth = 487.415314; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:487.415314 # Seafloor depth:-527.415314 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 50.765818 meters # Minimum depth: 526.469396 meters looking forward 0.000000 meters along route # Maximum depth: 526.469396 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 486.469396 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.898742; longitude = -117.335611; captureRadius = 10; duration = 50; initialDepth = 482.965545; finalDepth = 486.469396; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:486.469396 # Seafloor depth:-526.469396 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 50.765818 meters # Minimum depth: 522.965545 meters looking forward 0.000000 meters along route # Maximum depth: 522.965545 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 482.965545 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.898831; longitude = -117.334971; captureRadius = 10; duration = 50; initialDepth = 480.703649; finalDepth = 482.965545; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:482.965545 # Seafloor depth:-522.965545 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 50.765818 meters # Minimum depth: 520.703649 meters looking forward 0.000000 meters along route # Maximum depth: 520.703649 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 480.703649 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.898919; longitude = -117.334330; captureRadius = 10; duration = 50; initialDepth = 479.685243; finalDepth = 480.703649; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:480.703649 # Seafloor depth:-520.703649 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 50.765818 meters # Minimum depth: 519.685243 meters looking forward 0.000000 meters along route # Maximum depth: 519.685243 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 479.685243 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.899007; longitude = -117.333689; captureRadius = 10; duration = 50; initialDepth = 476.286405; finalDepth = 479.685243; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:479.685243 # Seafloor depth:-519.685243 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 50.765818 meters # Minimum depth: 516.286405 meters looking forward 0.000000 meters along route # Maximum depth: 516.286405 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 476.286405 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.899095; longitude = -117.333048; captureRadius = 10; duration = 50; initialDepth = 478.254986; finalDepth = 476.286405; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:476.286405 # Seafloor depth:-516.286405 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 50.765818 meters # Minimum depth: 518.254986 meters looking forward 0.000000 meters along route # Maximum depth: 518.254986 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 478.254986 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.899183; longitude = -117.332407; captureRadius = 10; duration = 50; initialDepth = 475.103371; finalDepth = 478.254986; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:478.254986 # Seafloor depth:-518.254986 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 50.765818 meters # Minimum depth: 515.103371 meters looking forward 0.000000 meters along route # Maximum depth: 515.103371 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 475.103371 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.899272; longitude = -117.331766; captureRadius = 10; duration = 50; initialDepth = 490.810532; finalDepth = 475.103371; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:475.103371 # Seafloor depth:-515.103371 # 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 50.765818 meters # Minimum depth: 530.810532 meters looking forward 0.000000 meters along route # Maximum depth: 530.810532 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 490.810532 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.899345; longitude = -117.331232; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 499.624197; finalDepth = 490.810532; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:490.810532 # Seafloor depth:-530.810532 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 50.765818 meters # Minimum depth: 541.147021 meters looking forward 0.000000 meters along route # Maximum depth: 541.147021 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 499.624197 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.899299; longitude = -117.331051; captureRadius = 10; duration = 50; initialDepth = 482.867435; finalDepth = 499.624197; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.5228235000002 # Actual altitude: 50 # Commanded vehicle depth:499.6241975 # Seafloor depth:-541.147021 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 50.765818 meters # Minimum depth: 522.867435 meters looking forward 0.000000 meters along route # Maximum depth: 522.867435 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 482.867435 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.899164; longitude = -117.330515; captureRadius = 10; duration = 50; initialDepth = 471.257386; finalDepth = 482.867435; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.5228235000002 # Actual altitude: 50 # Commanded vehicle depth:482.867435 # Seafloor depth:-522.867435 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 50.765818 meters # Minimum depth: 511.257386 meters looking forward 0.000000 meters along route # Maximum depth: 511.257386 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 471.257386 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.899029; longitude = -117.329978; captureRadius = 10; duration = 50; initialDepth = 478.116982; finalDepth = 471.257386; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:471.257386 # Seafloor depth:-511.257386 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 50.765818 meters # Minimum depth: 518.116982 meters looking forward 0.000000 meters along route # Maximum depth: 518.116982 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 478.116982 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.898894; longitude = -117.329441; captureRadius = 10; duration = 50; initialDepth = 465.299894; finalDepth = 478.116982; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:478.116982 # Seafloor depth:-518.116982 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 50.765818 meters # Minimum depth: 505.299894 meters looking forward 0.000000 meters along route # Maximum depth: 505.299894 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 465.299894 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.898753; longitude = -117.328882; captureRadius = 10; duration = 50; initialDepth = 467.926620; finalDepth = 465.299894; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:465.299894 # Seafloor depth:-505.299894 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 50.765818 meters # Minimum depth: 507.926620 meters looking forward 0.000000 meters along route # Maximum depth: 507.926620 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 467.926620 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.898591; longitude = -117.328241; captureRadius = 10; duration = 50; initialDepth = 465.142952; finalDepth = 467.926620; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:467.92662 # Seafloor depth:-507.926620 # 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 50.765818 meters # Minimum depth: 505.142952 meters looking forward 0.000000 meters along route # Maximum depth: 505.142952 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 465.142952 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.898443; longitude = -117.327653; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 462.225737; finalDepth = 465.142952; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:465.142952 # Seafloor depth:-505.142952 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 50.765818 meters # Minimum depth: 502.225737 meters looking forward 0.000000 meters along route # Maximum depth: 502.225737 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 462.225737 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.898331; longitude = -117.327440; captureRadius = 10; duration = 50; initialDepth = 440.921692; finalDepth = 462.225737; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:462.225737 # Seafloor depth:-502.225737 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 50.765818 meters # Minimum depth: 480.921692 meters looking forward 0.000000 meters along route # Maximum depth: 480.921692 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 440.921692 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.898079; longitude = -117.326959; captureRadius = 10; duration = 50; initialDepth = 431.709481; finalDepth = 440.921692; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:440.921692 # Seafloor depth:-480.921692 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 50.765818 meters # Minimum depth: 471.709481 meters looking forward 0.000000 meters along route # Maximum depth: 471.709481 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 431.709481 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.897827; longitude = -117.326478; captureRadius = 10; duration = 50; initialDepth = 429.712938; finalDepth = 431.709481; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:431.709481 # Seafloor depth:-471.709481 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 50.765818 meters # Minimum depth: 469.712938 meters looking forward 0.000000 meters along route # Maximum depth: 469.712938 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 429.712938 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.897576; longitude = -117.325997; captureRadius = 10; duration = 50; initialDepth = 433.927385; finalDepth = 429.712938; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:429.712938 # Seafloor depth:-469.712938 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 50.765818 meters # Minimum depth: 473.927385 meters looking forward 0.000000 meters along route # Maximum depth: 473.927385 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 433.927385 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.897324; longitude = -117.325517; captureRadius = 10; duration = 50; initialDepth = 440.047974; finalDepth = 433.927385; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:433.927385 # Seafloor depth:-473.927385 # 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 50.765818 meters # Minimum depth: 480.047974 meters looking forward 0.000000 meters along route # Maximum depth: 480.047974 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 440.047974 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.897044; longitude = -117.324983; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 437.194824; finalDepth = 440.047974; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:440.047974 # Seafloor depth:-480.047974 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.765818 meters # Minimum depth: 477.194824 meters looking forward 0.000000 meters along route # Maximum depth: 477.194824 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 437.194824 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.896729; longitude = -117.324848; captureRadius = 10; duration = 50; initialDepth = 436.871035; finalDepth = 437.194824; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:437.194824 # Seafloor depth:-477.194824 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.765818 meters # Minimum depth: 476.871035 meters looking forward 0.000000 meters along route # Maximum depth: 476.871035 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 436.871035 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.896187; longitude = -117.324617; captureRadius = 10; duration = 50; initialDepth = 443.089275; finalDepth = 436.871035; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:436.871035 # Seafloor depth:-476.871035 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.765818 meters # Minimum depth: 483.089275 meters looking forward 0.000000 meters along route # Maximum depth: 483.089275 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 443.089275 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.895667; longitude = -117.324395; captureRadius = 10; duration = 50; initialDepth = 451.796944; finalDepth = 443.089275; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:443.089275 # Seafloor depth:-483.089275 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.765818 meters # Minimum depth: 491.796944 meters looking forward 0.000000 meters along route # Maximum depth: 491.796944 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 451.796944 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.895240; longitude = -117.324213; captureRadius = 10; duration = 50; initialDepth = 456.252450; finalDepth = 451.796944; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:451.796944 # Seafloor depth:-491.796944 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.765818 meters # Minimum depth: 496.252450 meters looking forward 0.000000 meters along route # Maximum depth: 496.252450 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 456.252450 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.894699; longitude = -117.323982; captureRadius = 10; duration = 50; initialDepth = 445.714294; finalDepth = 456.252450; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:456.25245 # Seafloor depth:-496.252450 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.765818 meters # Minimum depth: 485.714294 meters looking forward 0.000000 meters along route # Maximum depth: 485.714294 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 445.714294 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.894158; longitude = -117.323751; captureRadius = 10; duration = 50; initialDepth = 437.623154; finalDepth = 445.714294; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:445.714294 # Seafloor depth:-485.714294 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.765818 meters # Minimum depth: 477.623154 meters looking forward 0.000000 meters along route # Maximum depth: 477.623154 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 437.623154 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.893616; longitude = -117.323520; captureRadius = 10; duration = 50; initialDepth = 436.817276; finalDepth = 437.623154; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:437.623154 # Seafloor depth:-477.623154 # 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 50.765818 meters # Minimum depth: 476.817276 meters looking forward 0.000000 meters along route # Maximum depth: 476.817276 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 436.817276 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.893165; longitude = -117.323327; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 440.208781; finalDepth = 436.817276; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:436.817276 # Seafloor depth:-476.817276 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.765818 meters # Minimum depth: 480.208781 meters looking forward 0.000000 meters along route # Maximum depth: 480.208781 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 440.208781 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.892907; longitude = -117.323113; captureRadius = 10; duration = 50; initialDepth = 439.298767; finalDepth = 440.208781; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:440.208781 # Seafloor depth:-480.208781 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.765818 meters # Minimum depth: 479.298767 meters looking forward 0.000000 meters along route # Maximum depth: 479.298767 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 439.298767 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.892520; longitude = -117.322793; captureRadius = 10; duration = 50; initialDepth = 442.019838; finalDepth = 439.298767; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:439.298767 # Seafloor depth:-479.298767 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.765818 meters # Minimum depth: 482.019838 meters looking forward 0.000000 meters along route # Maximum depth: 482.019838 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 442.019838 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.892128; longitude = -117.322467; captureRadius = 10; duration = 50; initialDepth = 445.179518; finalDepth = 442.019838; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:442.019838 # Seafloor depth:-482.019838 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.765818 meters # Minimum depth: 485.179518 meters looking forward 0.000000 meters along route # Maximum depth: 485.179518 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 445.179518 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.891722; longitude = -117.322131; captureRadius = 10; duration = 50; initialDepth = 444.658410; finalDepth = 445.179518; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:445.179518 # Seafloor depth:-485.179518 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.765818 meters # Minimum depth: 484.658410 meters looking forward 0.000000 meters along route # Maximum depth: 484.658410 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 444.658410 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.891316; longitude = -117.321794; captureRadius = 10; duration = 50; initialDepth = 445.397347; finalDepth = 444.658410; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:444.65841 # Seafloor depth:-484.658410 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 50.765818 meters # Minimum depth: 485.397347 meters looking forward 0.000000 meters along route # Maximum depth: 485.397347 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 445.397347 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.890910; longitude = -117.321458; captureRadius = 10; duration = 50; initialDepth = 443.095444; finalDepth = 445.397347; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:445.397347 # Seafloor depth:-485.397347 # 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 50.765818 meters # Minimum depth: 483.095444 meters looking forward 0.000000 meters along route # Maximum depth: 483.095444 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 443.095444 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.890459; longitude = -117.321084; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 445.146112; finalDepth = 443.095444; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:443.095444 # Seafloor depth:-483.095444 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 50.765818 meters # Minimum depth: 485.146112 meters looking forward 0.000000 meters along route # Maximum depth: 485.146112 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 445.146112 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.890234; longitude = -117.320802; captureRadius = 10; duration = 50; initialDepth = 433.987718; finalDepth = 445.146112; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:445.146112 # Seafloor depth:-485.146112 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 50.765818 meters # Minimum depth: 473.987718 meters looking forward 0.000000 meters along route # Maximum depth: 473.987718 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 433.987718 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.889904; longitude = -117.320389; captureRadius = 10; duration = 50; initialDepth = 444.186732; finalDepth = 433.987718; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:433.987718 # Seafloor depth:-473.987718 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 50.765818 meters # Minimum depth: 484.186732 meters looking forward 0.000000 meters along route # Maximum depth: 484.186732 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 444.186732 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.889520; longitude = -117.319909; captureRadius = 10; duration = 50; initialDepth = 444.795731; finalDepth = 444.186732; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:444.186732 # Seafloor depth:-484.186732 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 50.765818 meters # Minimum depth: 484.795731 meters looking forward 0.000000 meters along route # Maximum depth: 484.795731 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 444.795731 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.889136; longitude = -117.319428; captureRadius = 10; duration = 50; initialDepth = 440.573882; finalDepth = 444.795731; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:444.795731 # Seafloor depth:-484.795731 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 50.765818 meters # Minimum depth: 480.573882 meters looking forward 0.000000 meters along route # Maximum depth: 480.573882 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 440.573882 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.888745; longitude = -117.318938; captureRadius = 10; duration = 50; initialDepth = 442.600471; finalDepth = 440.573882; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:440.573882 # Seafloor depth:-480.573882 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 50.765818 meters # Minimum depth: 482.600471 meters looking forward 0.000000 meters along route # Maximum depth: 482.600471 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 442.600471 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.888339; longitude = -117.318430; captureRadius = 10; duration = 50; initialDepth = 442.235385; finalDepth = 442.600471; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:442.600471 # Seafloor depth:-482.600471 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 50.765818 meters # Minimum depth: 482.235385 meters looking forward 0.000000 meters along route # Maximum depth: 482.235385 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 442.235385 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.887985; longitude = -117.317986; captureRadius = 10; duration = 50; initialDepth = 436.625272; finalDepth = 442.235385; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:442.235385 # Seafloor depth:-482.235385 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 50.765818 meters # Minimum depth: 476.625272 meters looking forward 0.000000 meters along route # Maximum depth: 476.625272 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 436.625272 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.887663; longitude = -117.317583; captureRadius = 10; duration = 50; initialDepth = 431.061600; finalDepth = 436.625272; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:436.625272 # Seafloor depth:-476.625272 # 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 50.765818 meters # Minimum depth: 471.061600 meters looking forward 0.000000 meters along route # Maximum depth: 471.061600 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 431.061600 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.887302; longitude = -117.317131; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 427.800545; finalDepth = 431.061600; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:431.0616 # Seafloor depth:-471.061600 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 50.765818 meters # Minimum depth: 467.800545 meters looking forward 0.000000 meters along route # Maximum depth: 467.800545 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 427.800545 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.887221; longitude = -117.316864; captureRadius = 10; duration = 50; initialDepth = 421.077391; finalDepth = 427.800545; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:427.800545 # Seafloor depth:-467.800545 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 50.765818 meters # Minimum depth: 461.077391 meters looking forward 0.000000 meters along route # Maximum depth: 461.077391 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 421.077391 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.887025; longitude = -117.316223; captureRadius = 10; duration = 50; initialDepth = 418.343486; finalDepth = 421.077391; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:421.077391 # Seafloor depth:-461.077391 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 50.765818 meters # Minimum depth: 458.343486 meters looking forward 0.000000 meters along route # Maximum depth: 458.343486 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 418.343486 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.886851; longitude = -117.315651; captureRadius = 10; duration = 50; initialDepth = 411.698296; finalDepth = 418.343486; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:418.343486 # Seafloor depth:-458.343486 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 50.765818 meters # Minimum depth: 451.698296 meters looking forward 0.000000 meters along route # Maximum depth: 451.698296 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 411.698296 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.886683; longitude = -117.315102; captureRadius = 10; duration = 50; initialDepth = 403.301906; finalDepth = 411.698296; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:411.698296 # Seafloor depth:-451.698296 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 50.765818 meters # Minimum depth: 443.301906 meters looking forward 0.000000 meters along route # Maximum depth: 443.301906 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 403.301906 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.886488; longitude = -117.314461; captureRadius = 10; duration = 50; initialDepth = 393.950012; finalDepth = 403.301906; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:403.301906 # Seafloor depth:-443.301906 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 50.765818 meters # Minimum depth: 433.950012 meters looking forward 0.000000 meters along route # Maximum depth: 433.950012 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 393.950012 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.886293; longitude = -117.313820; captureRadius = 10; duration = 50; initialDepth = 395.143089; finalDepth = 393.950012; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:393.950012 # Seafloor depth:-433.950012 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 50.765818 meters # Minimum depth: 435.143089 meters looking forward 0.000000 meters along route # Maximum depth: 435.143089 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 395.143089 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.886097; longitude = -117.313179; captureRadius = 10; duration = 50; initialDepth = 395.603936; finalDepth = 395.143089; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:395.143089 # Seafloor depth:-435.143089 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 50.765818 meters # Minimum depth: 435.603936 meters looking forward 0.000000 meters along route # Maximum depth: 435.603936 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 395.603936 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.885902; longitude = -117.312538; captureRadius = 10; duration = 50; initialDepth = 390.705147; finalDepth = 395.603936; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:395.603936 # Seafloor depth:-435.603936 # 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 6 # Segment length 50.765818 meters # Minimum depth: 430.705147 meters looking forward 0.000000 meters along route # Maximum depth: 430.705147 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 390.705147 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.885723; longitude = -117.311950; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 388.484868; finalDepth = 390.705147; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:390.705147 # Seafloor depth:-430.705147 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 50.765818 meters # Minimum depth: 428.484868 meters looking forward 0.000000 meters along route # Maximum depth: 428.484868 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 388.484868 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.885973; longitude = -117.311576; captureRadius = 10; duration = 50; initialDepth = 389.900104; finalDepth = 388.484868; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:388.484868 # Seafloor depth:-428.484868 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 50.765818 meters # Minimum depth: 429.900104 meters looking forward 0.000000 meters along route # Maximum depth: 429.900104 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 389.900104 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.886310; longitude = -117.311074; captureRadius = 10; duration = 50; initialDepth = 387.303617; finalDepth = 389.900104; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:389.900104 # Seafloor depth:-429.900104 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 50.765818 meters # Minimum depth: 427.303617 meters looking forward 0.000000 meters along route # Maximum depth: 427.303617 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 387.303617 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.886617; longitude = -117.310615; captureRadius = 10; duration = 50; initialDepth = 386.655639; finalDepth = 387.303617; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:387.303617 # Seafloor depth:-427.303617 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 50.765818 meters # Minimum depth: 426.655639 meters looking forward 0.000000 meters along route # Maximum depth: 426.655639 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 386.655639 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.886939; longitude = -117.310134; captureRadius = 10; duration = 50; initialDepth = 384.923900; finalDepth = 386.655639; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:386.655639 # Seafloor depth:-426.655639 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 50.765818 meters # Minimum depth: 424.923900 meters looking forward 0.000000 meters along route # Maximum depth: 424.923900 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 384.923900 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.887261; longitude = -117.309654; captureRadius = 10; duration = 50; initialDepth = 383.729137; finalDepth = 384.923900; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:384.9239 # Seafloor depth:-424.923900 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 50.765818 meters # Minimum depth: 423.729137 meters looking forward 0.000000 meters along route # Maximum depth: 423.729137 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 383.729137 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.887583; longitude = -117.309173; captureRadius = 10; duration = 50; initialDepth = 381.707118; finalDepth = 383.729137; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:383.729137 # Seafloor depth:-423.729137 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 50.765818 meters # Minimum depth: 421.707118 meters looking forward 0.000000 meters along route # Maximum depth: 421.707118 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 381.707118 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.887933; longitude = -117.308650; captureRadius = 10; duration = 50; initialDepth = 380.457965; finalDepth = 381.707118; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:381.707118 # Seafloor depth:-421.707118 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 50.765818 meters # Minimum depth: 420.457965 meters looking forward 0.000000 meters along route # Maximum depth: 420.457965 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 380.457965 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.888227; longitude = -117.308211; captureRadius = 10; duration = 50; initialDepth = 376.726466; finalDepth = 380.457965; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:380.457965 # Seafloor depth:-420.457965 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 50.765818 meters # Minimum depth: 416.726466 meters looking forward 0.000000 meters along route # Maximum depth: 416.726466 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 376.726466 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.888549; longitude = -117.307731; captureRadius = 10; duration = 50; initialDepth = 353.917463; finalDepth = 376.726466; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:376.726466 # Seafloor depth:-416.726466 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 50.765818 meters # Minimum depth: 393.917463 meters looking forward 0.000000 meters along route # Maximum depth: 393.917463 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 353.917463 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.888881; longitude = -117.307237; captureRadius = 10; duration = 50; initialDepth = 340.336281; finalDepth = 353.917463; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:353.917463 # Seafloor depth:-393.917463 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 50.765818 meters # Minimum depth: 380.336281 meters looking forward 0.000000 meters along route # Maximum depth: 380.336281 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 340.336281 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.889193; longitude = -117.306769; captureRadius = 10; duration = 50; initialDepth = 350.947935; finalDepth = 340.336281; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:340.336281 # Seafloor depth:-380.336281 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 50.765818 meters # Minimum depth: 390.947935 meters looking forward 0.000000 meters along route # Maximum depth: 390.947935 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 350.947935 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.889557; longitude = -117.306227; captureRadius = 10; duration = 50; initialDepth = 356.320717; finalDepth = 350.947935; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:350.947935 # Seafloor depth:-390.947935 # 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 50.765818 meters # Minimum depth: 396.320717 meters looking forward 0.000000 meters along route # Maximum depth: 396.320717 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 356.320717 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.889873; longitude = -117.305755; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 356.034611; finalDepth = 356.320717; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:356.320717 # Seafloor depth:-396.320717 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 50.765818 meters # Minimum depth: 396.034611 meters looking forward 0.000000 meters along route # Maximum depth: 396.034611 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 356.034611 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.889963; longitude = -117.305616; captureRadius = 10; duration = 50; initialDepth = 355.247864; finalDepth = 356.034611; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:356.034611 # Seafloor depth:-396.034611 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 50.765818 meters # Minimum depth: 395.247864 meters looking forward 0.000000 meters along route # Maximum depth: 395.247864 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 355.247864 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.890253; longitude = -117.305167; captureRadius = 10; duration = 50; initialDepth = 348.497884; finalDepth = 355.247864; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:355.247864 # Seafloor depth:-395.247864 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 50.765818 meters # Minimum depth: 388.497884 meters looking forward 0.000000 meters along route # Maximum depth: 388.497884 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 348.497884 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.890564; longitude = -117.304686; captureRadius = 10; duration = 50; initialDepth = 329.866048; finalDepth = 348.497884; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:348.497884 # Seafloor depth:-388.497884 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 50.765818 meters # Minimum depth: 369.866048 meters looking forward 0.000000 meters along route # Maximum depth: 369.866048 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 329.866048 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.890910; longitude = -117.304150; captureRadius = 10; duration = 50; initialDepth = 337.885163; finalDepth = 329.866048; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:329.866048 # Seafloor depth:-369.866048 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 50.765818 meters # Minimum depth: 377.885163 meters looking forward 0.000000 meters along route # Maximum depth: 377.885163 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 337.885163 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.891185; longitude = -117.303725; captureRadius = 10; duration = 50; initialDepth = 348.200566; finalDepth = 337.885163; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:337.885163 # Seafloor depth:-377.885163 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 50.765818 meters # Minimum depth: 388.200566 meters looking forward 0.000000 meters along route # Maximum depth: 388.200566 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 348.200566 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.891496; longitude = -117.303244; captureRadius = 10; duration = 50; initialDepth = 349.300771; finalDepth = 348.200566; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:348.200566 # Seafloor depth:-388.200566 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 50.765818 meters # Minimum depth: 389.300771 meters looking forward 0.000000 meters along route # Maximum depth: 389.300771 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 349.300771 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.891807; longitude = -117.302764; captureRadius = 10; duration = 50; initialDepth = 350.555870; finalDepth = 349.300771; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:349.300771 # Seafloor depth:-389.300771 # 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 50.765818 meters # Minimum depth: 390.555870 meters looking forward 0.000000 meters along route # Maximum depth: 390.555870 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 350.555870 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.892083; longitude = -117.302336; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 348.798706; finalDepth = 350.555870; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:350.55587 # Seafloor depth:-390.555870 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 50.765818 meters # Minimum depth: 388.798706 meters looking forward 0.000000 meters along route # Maximum depth: 388.798706 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 348.798706 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.892043; longitude = -117.302123; captureRadius = 10; duration = 50; initialDepth = 335.354898; finalDepth = 348.798706; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:348.798706 # Seafloor depth:-388.798706 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 50.765818 meters # Minimum depth: 375.354898 meters looking forward 0.000000 meters along route # Maximum depth: 375.354898 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 335.354898 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.891921; longitude = -117.301482; captureRadius = 10; duration = 50; initialDepth = 331.863128; finalDepth = 335.354898; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:335.354898 # Seafloor depth:-375.354898 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 50.765818 meters # Minimum depth: 371.863128 meters looking forward 0.000000 meters along route # Maximum depth: 371.863128 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 331.863128 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.891800; longitude = -117.300841; captureRadius = 10; duration = 50; initialDepth = 327.938112; finalDepth = 331.863128; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:331.863128 # Seafloor depth:-371.863128 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 50.765818 meters # Minimum depth: 367.938112 meters looking forward 0.000000 meters along route # Maximum depth: 367.938112 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 327.938112 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.891678; longitude = -117.300200; captureRadius = 10; duration = 50; initialDepth = 330.219557; finalDepth = 327.938112; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:327.938112 # Seafloor depth:-367.938112 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 50.765818 meters # Minimum depth: 370.219557 meters looking forward 0.000000 meters along route # Maximum depth: 370.219557 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 330.219557 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.891557; longitude = -117.299559; captureRadius = 10; duration = 50; initialDepth = 333.165681; finalDepth = 330.219557; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:330.219557 # Seafloor depth:-370.219557 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 50.765818 meters # Minimum depth: 373.165681 meters looking forward 0.000000 meters along route # Maximum depth: 373.165681 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 333.165681 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.891435; longitude = -117.298918; captureRadius = 10; duration = 50; initialDepth = 334.548832; finalDepth = 333.165681; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:333.165681 # Seafloor depth:-373.165681 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 50.765818 meters # Minimum depth: 374.548832 meters looking forward 0.000000 meters along route # Maximum depth: 374.548832 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 334.548832 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.891314; longitude = -117.298277; captureRadius = 10; duration = 50; initialDepth = 334.856446; finalDepth = 334.548832; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:334.548832 # Seafloor depth:-374.548832 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 50.765818 meters # Minimum depth: 374.856446 meters looking forward 0.000000 meters along route # Maximum depth: 374.856446 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 334.856446 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.891192; longitude = -117.297636; captureRadius = 10; duration = 50; initialDepth = 334.154472; finalDepth = 334.856446; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:334.856446 # Seafloor depth:-374.856446 # 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 50.765818 meters # Minimum depth: 374.154472 meters looking forward 0.000000 meters along route # Maximum depth: 374.154472 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 334.154472 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.891091; longitude = -117.297102; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 334.336412; finalDepth = 334.154472; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:334.154472 # Seafloor depth:-374.154472 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 50.765818 meters # Minimum depth: 374.336412 meters looking forward 0.000000 meters along route # Maximum depth: 374.336412 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 334.336412 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.891046; longitude = -117.297084; captureRadius = 10; duration = 50; initialDepth = 330.185796; finalDepth = 334.336412; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:334.336412 # Seafloor depth:-374.336412 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 50.765818 meters # Minimum depth: 370.185796 meters looking forward 0.000000 meters along route # Maximum depth: 370.185796 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 330.185796 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.890504; longitude = -117.296870; captureRadius = 10; duration = 50; initialDepth = 324.678638; finalDepth = 330.185796; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:330.185796 # Seafloor depth:-370.185796 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 50.765818 meters # Minimum depth: 364.678638 meters looking forward 0.000000 meters along route # Maximum depth: 364.678638 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 324.678638 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.890008; longitude = -117.296675; captureRadius = 10; duration = 50; initialDepth = 315.471237; finalDepth = 324.678638; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:324.678638 # Seafloor depth:-364.678638 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 50.765818 meters # Minimum depth: 355.471237 meters looking forward 0.000000 meters along route # Maximum depth: 355.471237 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 315.471237 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.889557; longitude = -117.296497; captureRadius = 10; duration = 50; initialDepth = 299.042679; finalDepth = 315.471237; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:315.471237 # Seafloor depth:-355.471237 # 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 50.765818 meters # Minimum depth: 339.042679 meters looking forward 0.000000 meters along route # Maximum depth: 339.042679 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 299.042679 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.889061; longitude = -117.296301; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 286.781446; finalDepth = 299.042679; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:299.042679 # Seafloor depth:-339.042679 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 50.765818 meters # Minimum depth: 326.781446 meters looking forward 0.000000 meters along route # Maximum depth: 326.781446 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 286.781446 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.888745; longitude = -117.296193; captureRadius = 10; duration = 50; initialDepth = 277.574961; finalDepth = 286.781446; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:286.781446 # Seafloor depth:-326.781446 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 50.765818 meters # Minimum depth: 317.574961 meters looking forward 0.000000 meters along route # Maximum depth: 317.574961 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 277.574961 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.888282; longitude = -117.296034; captureRadius = 10; duration = 50; initialDepth = 268.822499; finalDepth = 277.574961; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:277.574961 # Seafloor depth:-317.574961 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 50.765818 meters # Minimum depth: 308.822499 meters looking forward 0.000000 meters along route # Maximum depth: 308.822499 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 268.822499 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.887798; longitude = -117.295868; captureRadius = 10; duration = 50; initialDepth = 260.968250; finalDepth = 268.822499; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:268.822499 # Seafloor depth:-308.822499 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 50.765818 meters # Minimum depth: 300.968250 meters looking forward 0.000000 meters along route # Maximum depth: 300.968250 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 260.968250 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.887348; longitude = -117.295713; captureRadius = 10; duration = 50; initialDepth = 252.279593; finalDepth = 260.968250; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:260.96825 # Seafloor depth:-300.968250 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 50.765818 meters # Minimum depth: 292.279593 meters looking forward 0.000000 meters along route # Maximum depth: 292.279593 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 252.279593 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.886851; longitude = -117.295543; captureRadius = 10; duration = 50; initialDepth = 242.671309; finalDepth = 252.279593; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:252.279593 # Seafloor depth:-292.279593 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 50.765818 meters # Minimum depth: 282.671309 meters looking forward 0.000000 meters along route # Maximum depth: 282.671309 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 242.671309 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.886310; longitude = -117.295357; captureRadius = 10; duration = 50; initialDepth = 233.609356; finalDepth = 242.671309; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:242.671309 # Seafloor depth:-282.671309 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 50.765818 meters # Minimum depth: 273.609356 meters looking forward 0.000000 meters along route # Maximum depth: 273.609356 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 233.609356 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.885768; longitude = -117.295171; captureRadius = 10; duration = 50; initialDepth = 223.498300; finalDepth = 233.609356; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:233.609356 # Seafloor depth:-273.609356 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 50.765818 meters # Minimum depth: 263.498300 meters looking forward 0.000000 meters along route # Maximum depth: 263.498300 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 223.498300 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.885227; longitude = -117.294985; captureRadius = 10; duration = 50; initialDepth = 212.015179; finalDepth = 223.498300; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:223.4983 # Seafloor depth:-263.498300 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 50.765818 meters # Minimum depth: 252.015179 meters looking forward 0.000000 meters along route # Maximum depth: 252.015179 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 212.015179 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.884686; longitude = -117.294800; captureRadius = 10; duration = 50; initialDepth = 201.025421; finalDepth = 212.015179; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:212.015179 # Seafloor depth:-252.015179 # 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 50.765818 meters # Minimum depth: 241.025421 meters looking forward 0.000000 meters along route # Maximum depth: 241.025421 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 201.025421 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.884235; longitude = -117.294645; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 193.828425; finalDepth = 201.025421; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:201.025421 # Seafloor depth:-241.025421 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 50.765818 meters # Minimum depth: 233.828425 meters looking forward 0.000000 meters along route # Maximum depth: 233.828425 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 193.828425 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.883874; longitude = -117.294569; captureRadius = 10; duration = 50; initialDepth = 180.778188; finalDepth = 193.828425; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:193.828425 # Seafloor depth:-233.828425 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 50.765818 meters # Minimum depth: 220.778188 meters looking forward 0.000000 meters along route # Maximum depth: 220.778188 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 180.778188 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.883333; longitude = -117.294455; captureRadius = 10; duration = 50; initialDepth = 165.031740; finalDepth = 180.778188; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:180.778188 # Seafloor depth:-220.778188 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 50.765818 meters # Minimum depth: 205.031740 meters looking forward 0.000000 meters along route # Maximum depth: 205.031740 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 165.031740 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.882792; longitude = -117.294341; captureRadius = 10; duration = 50; initialDepth = 150.494754; finalDepth = 165.031740; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:165.03174 # Seafloor depth:-205.031740 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 50.765818 meters # Minimum depth: 190.494754 meters looking forward 0.000000 meters along route # Maximum depth: 190.494754 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 150.494754 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.882250; longitude = -117.294227; captureRadius = 10; duration = 50; initialDepth = 134.032965; finalDepth = 150.494754; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:150.494754 # Seafloor depth:-190.494754 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 50.765818 meters # Minimum depth: 174.032965 meters looking forward 0.000000 meters along route # Maximum depth: 174.032965 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 134.032965 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.881698; longitude = -117.294111; captureRadius = 10; duration = 50; initialDepth = 118.813956; finalDepth = 134.032965; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:134.032965 # Seafloor depth:-174.032965 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 50.765818 meters # Minimum depth: 158.813956 meters looking forward 0.000000 meters along route # Maximum depth: 158.813956 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 118.813956 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.881168; longitude = -117.293999; captureRadius = 10; duration = 50; initialDepth = 103.004265; finalDepth = 118.813956; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:118.813956 # Seafloor depth:-158.813956 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 50.765818 meters # Minimum depth: 143.004265 meters looking forward 0.000000 meters along route # Maximum depth: 143.004265 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 103.004265 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.880627; longitude = -117.293885; captureRadius = 10; duration = 50; initialDepth = 87.519251; finalDepth = 103.004265; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:103.004265 # Seafloor depth:-143.004265 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 50.765818 meters # Minimum depth: 127.519251 meters looking forward 0.000000 meters along route # Maximum depth: 127.519251 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 87.519251 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.880176; longitude = -117.293790; captureRadius = 10; duration = 50; initialDepth = 72.745987; finalDepth = 87.519251; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:87.519251 # Seafloor depth:-127.519251 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 50.765818 meters # Minimum depth: 112.745987 meters looking forward 0.000000 meters along route # Maximum depth: 112.745987 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 72.745987 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.879679; longitude = -117.293686; captureRadius = 10; duration = 50; initialDepth = 61.290318; finalDepth = 72.745987; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:72.745987 # Seafloor depth:-112.745987 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 50.765818 meters # Minimum depth: 101.290318 meters looking forward 0.000000 meters along route # Maximum depth: 101.290318 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 61.290318 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.879138; longitude = -117.293572; captureRadius = 10; duration = 50; initialDepth = 57.579202; finalDepth = 61.290318; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:61.290318 # Seafloor depth:-101.290318 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 50.765818 meters # Minimum depth: 97.579202 meters looking forward 0.000000 meters along route # Maximum depth: 97.579202 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.579202 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.878597; longitude = -117.293458; captureRadius = 10; duration = 50; initialDepth = 56.271086; finalDepth = 57.579202; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:57.579202 # Seafloor depth:-97.579202 # 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; } # ####################################################### ####################################################### # ####################################################### # 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:56.271086 # Seafloor depth:-96.271086 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Gain = 128.0; SBP_Duration = 450.000; LoSS_Mode = 1; LoSS_Power = 100.0; LoSS_Range = 337.50; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 337.5; MB_Power = 220; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; Snippet_Mode = 1; Window_Size = 200; Log_Mode = 0; } # ####################################################### # # Waypoint_depth behavior to get to start of line 1 # Segment length 50.765818 meters # Minimum depth: 96.271086 meters looking forward 0.000000 meters along route # Maximum depth: 96.271086 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 633.192904 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 56.271086 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.878146; longitude = -117.293363; captureRadius = 10; duration = 600; initialDepth = 56.271086; finalDepth = 56.271086; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 350.085862; 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 = 350.085862; 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; } # ####################################################### #######################################################