# 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_4v2.rte # Mission File: LaJolla_4v2.cfg # Distance: 45329.835502 (m) # Estimated Time: 31524 (s) 8.757 (hr) # Abort Time: 40981 (s) # Max battery life: 64800 (s) # Safety margin: 1800 (s) # Ascend time: 682 (s) # Way Points: 35 # Route Points: 818 # 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: 875.435657 (m) # Abort Vehicle Depth: 900.435657 (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 -117.363721 32.749148 -104.749888 0.000000 3 # 1 -117.432972 32.708455 -538.891927 7902.941100 1 # 2 -117.444710 32.707463 -578.260620 9008.514111 1 # 3 -117.454793 32.708410 -599.571940 9959.405702 1 # 4 -117.460075 32.712335 -624.619792 10618.470632 1 # 5 -117.464503 32.717523 -668.138184 11327.703102 1 # 6 -117.473039 32.733584 -738.179199 13279.574311 1 # 7 -117.481042 32.750772 -850.379069 15327.252814 1 # 8 -117.486484 32.769178 -832.071940 17430.473016 4 # 9 -117.490005 32.768772 -852.813314 17763.332582 3 # 10 -117.494754 32.772878 -894.854899 18399.657917 1 # 11 -117.490912 32.775585 -899.569499 18868.139987 1 # 12 -117.485524 32.774998 -833.823161 19376.972450 1 # 13 -117.491233 32.767599 -841.022868 20356.058058 3 # 14 -117.484190 32.749734 -803.835612 22443.533388 1 # 15 -117.484990 32.748381 -785.322917 22611.259378 1 # 16 -117.477841 32.733719 -738.847738 24369.263442 1 # 17 -117.475867 32.731328 -749.060465 24692.483782 1 # 18 -117.470799 32.720591 -645.070312 25974.031682 1 # 19 -117.466904 32.714816 -611.807699 26710.928350 1 # 20 -117.460555 32.708275 -597.795492 27648.975315 1 # 21 -117.456074 32.705162 -584.047729 28192.588167 1 # 22 -117.444336 32.704124 -562.206502 29298.711763 1 # 23 -117.436493 32.704666 -540.468343 30036.243348 4 # 24 -117.436333 32.703177 -531.699382 30201.963041 3 # 25 -117.443856 32.702771 -543.279785 30908.491689 1 # 26 -117.455113 32.703402 -566.841553 31965.951680 3 # 27 -117.449031 32.696500 -531.873942 32920.159964 1 # 28 -117.442896 32.690725 -506.691650 33780.727504 1 # 29 -117.438414 32.685447 -477.426636 34501.068990 1 # 30 -117.430144 32.679041 -457.450399 35552.447919 1 # 31 -117.422142 32.672409 -439.653198 36602.907760 3 # 32 -117.431585 32.699342 -509.294149 39717.089751 3 # 33 -117.456234 32.688379 -516.519206 42327.746517 3 # 34 -117.448391 32.714636 -569.033610 45329.835502 4 # # A total of 818 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 40981; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 875.435657; abortDepth = 900.435657; minAltitude = 50.000000; abortAltitude = 30.000000; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = 600; minHits = 2; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 682; horizontalMode = rudder; horizontal = 3.000000; pitch = 45.000000; speed = 1.500000; endDepth = 2.000000; } # # Acoustic update - sent status ping after end of survey # behavior acousticUpdate { duration = 2; dummy = 1; } # # Turn off power to sonars and stop logging on the PLC # by setting the value of the mode attribute to 0 (used to be False). behavior reson { duration = 6; MB_Power = 0; SBP_Mode = 0; LoSS_Mode = 0; HiSS_Mode = 0; Log_Mode = 0; } ####################################################### # # # Waypoint_depth behavior to get to end of line 34 # Segment length 60.876159 meters # Minimum depth: 569.033610 meters looking forward 0.000000 meters along route # Maximum depth: 569.033610 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 529.033610 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.714636; longitude = -117.448391; captureRadius = 10; duration = 60; # abortOnTimeout = True; initialDepth = 530.282349; finalDepth = 529.033610; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:529.03361 # Seafloor depth:-569.033610 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 570.282349 meters looking forward 0.000000 meters along route # Maximum depth: 570.282349 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 530.282349 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.714320; longitude = -117.448485; captureRadius = 10; duration = 60; initialDepth = 531.480715; finalDepth = 530.282349; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:530.282349 # Seafloor depth:-570.282349 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 571.480715 meters looking forward 0.000000 meters along route # Maximum depth: 571.480715 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 531.480715 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.713779; longitude = -117.448647; captureRadius = 10; duration = 60; initialDepth = 532.282624; finalDepth = 531.480715; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:531.480715 # Seafloor depth:-571.480715 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 572.282624 meters looking forward 0.000000 meters along route # Maximum depth: 572.282624 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 532.282624 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.713237; longitude = -117.448809; captureRadius = 10; duration = 60; initialDepth = 535.185275; finalDepth = 532.282624; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:532.282624 # Seafloor depth:-572.282624 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 575.185275 meters looking forward 0.000000 meters along route # Maximum depth: 575.185275 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 535.185275 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.712696; longitude = -117.448970; captureRadius = 10; duration = 60; initialDepth = 536.063155; finalDepth = 535.185275; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:535.185275 # Seafloor depth:-575.185275 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 576.063155 meters looking forward 0.000000 meters along route # Maximum depth: 576.063155 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 536.063155 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.712154; longitude = -117.449132; captureRadius = 10; duration = 60; initialDepth = 536.739867; finalDepth = 536.063155; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:536.063155 # Seafloor depth:-576.063155 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 576.739867 meters looking forward 0.000000 meters along route # Maximum depth: 576.739867 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 536.739867 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.711613; longitude = -117.449294; captureRadius = 10; duration = 60; initialDepth = 537.485191; finalDepth = 536.739867; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:536.739867 # Seafloor depth:-576.739867 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 577.485191 meters looking forward 0.000000 meters along route # Maximum depth: 577.485191 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 537.485191 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.711072; longitude = -117.449455; captureRadius = 10; duration = 60; initialDepth = 540.330593; finalDepth = 537.485191; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:537.485191 # Seafloor depth:-577.485191 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 580.330593 meters looking forward 0.000000 meters along route # Maximum depth: 580.330593 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 540.330593 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.710530; longitude = -117.449617; captureRadius = 10; duration = 60; initialDepth = 541.574808; finalDepth = 540.330593; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:540.330593 # Seafloor depth:-580.330593 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 581.574808 meters looking forward 0.000000 meters along route # Maximum depth: 581.574808 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 541.574808 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.709989; longitude = -117.449779; captureRadius = 10; duration = 60; initialDepth = 543.163830; finalDepth = 541.574808; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:541.574808 # Seafloor depth:-581.574808 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 583.163830 meters looking forward 0.000000 meters along route # Maximum depth: 583.163830 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 543.163830 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.709448; longitude = -117.449941; captureRadius = 10; duration = 60; initialDepth = 544.618767; finalDepth = 543.163830; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:543.16383 # Seafloor depth:-583.163830 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 584.618767 meters looking forward 0.000000 meters along route # Maximum depth: 584.618767 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 544.618767 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.708906; longitude = -117.450102; captureRadius = 10; duration = 60; initialDepth = 542.325967; finalDepth = 544.618767; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:544.618767 # Seafloor depth:-584.618767 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 582.325967 meters looking forward 0.000000 meters along route # Maximum depth: 582.325967 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 542.325967 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.708365; longitude = -117.450264; captureRadius = 10; duration = 60; initialDepth = 542.861162; finalDepth = 542.325967; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:542.325967 # Seafloor depth:-582.325967 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 582.861162 meters looking forward 0.000000 meters along route # Maximum depth: 582.861162 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 542.861162 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.707824; longitude = -117.450426; captureRadius = 10; duration = 60; initialDepth = 545.589549; finalDepth = 542.861162; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:542.861162 # Seafloor depth:-582.861162 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 585.589549 meters looking forward 0.000000 meters along route # Maximum depth: 585.589549 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 545.589549 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.707282; longitude = -117.450587; captureRadius = 10; duration = 60; initialDepth = 547.621223; finalDepth = 545.589549; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:545.589549 # Seafloor depth:-585.589549 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 587.621223 meters looking forward 0.000000 meters along route # Maximum depth: 587.621223 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 547.621223 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.706741; longitude = -117.450749; captureRadius = 10; duration = 60; initialDepth = 550.409446; finalDepth = 547.621223; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:547.621223 # Seafloor depth:-587.621223 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 590.409446 meters looking forward 0.000000 meters along route # Maximum depth: 590.409446 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 550.409446 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.706199; longitude = -117.450911; captureRadius = 10; duration = 60; initialDepth = 554.037285; finalDepth = 550.409446; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:550.409446 # Seafloor depth:-590.409446 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 594.037285 meters looking forward 0.000000 meters along route # Maximum depth: 594.037285 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 554.037285 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.705658; longitude = -117.451072; captureRadius = 10; duration = 60; initialDepth = 553.633595; finalDepth = 554.037285; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:554.037285 # Seafloor depth:-594.037285 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 593.633595 meters looking forward 0.000000 meters along route # Maximum depth: 593.633595 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 553.633595 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.705117; longitude = -117.451234; captureRadius = 10; duration = 60; initialDepth = 548.785957; finalDepth = 553.633595; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:553.633595 # Seafloor depth:-593.633595 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 588.785957 meters looking forward 0.000000 meters along route # Maximum depth: 588.785957 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 548.785957 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.704575; longitude = -117.451396; captureRadius = 10; duration = 60; initialDepth = 536.793817; finalDepth = 548.785957; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:548.785957 # Seafloor depth:-588.785957 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 576.793817 meters looking forward 0.000000 meters along route # Maximum depth: 576.793817 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 536.793817 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.704034; longitude = -117.451558; captureRadius = 10; duration = 60; initialDepth = 523.383402; finalDepth = 536.793817; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:536.793817 # Seafloor depth:-576.793817 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 563.383402 meters looking forward 0.000000 meters along route # Maximum depth: 563.383402 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 523.383402 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.703493; longitude = -117.451719; captureRadius = 10; duration = 60; initialDepth = 519.516333; finalDepth = 523.383402; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:523.383402 # Seafloor depth:-563.383402 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 559.516333 meters looking forward 0.000000 meters along route # Maximum depth: 559.516333 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 519.516333 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.702951; longitude = -117.451881; captureRadius = 10; duration = 60; initialDepth = 518.590643; finalDepth = 519.516333; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:519.516333 # Seafloor depth:-559.516333 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 558.590643 meters looking forward 0.000000 meters along route # Maximum depth: 558.590643 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 518.590643 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.702410; longitude = -117.452043; captureRadius = 10; duration = 60; initialDepth = 512.310450; finalDepth = 518.590643; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:518.590643 # Seafloor depth:-558.590643 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 552.310450 meters looking forward 0.000000 meters along route # Maximum depth: 552.310450 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 512.310450 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.701869; longitude = -117.452204; captureRadius = 10; duration = 60; initialDepth = 508.775513; finalDepth = 512.310450; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:512.31045 # Seafloor depth:-552.310450 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 548.775513 meters looking forward 0.000000 meters along route # Maximum depth: 548.775513 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 508.775513 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.701327; longitude = -117.452366; captureRadius = 10; duration = 60; initialDepth = 506.634660; finalDepth = 508.775513; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:508.775513 # Seafloor depth:-548.775513 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 546.634660 meters looking forward 0.000000 meters along route # Maximum depth: 546.634660 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 506.634660 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.700786; longitude = -117.452528; captureRadius = 10; duration = 60; initialDepth = 509.743723; finalDepth = 506.634660; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:506.63466 # Seafloor depth:-546.634660 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 549.743723 meters looking forward 0.000000 meters along route # Maximum depth: 549.743723 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 509.743723 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.700244; longitude = -117.452690; captureRadius = 10; duration = 60; initialDepth = 504.756526; finalDepth = 509.743723; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:509.743723 # Seafloor depth:-549.743723 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 544.756526 meters looking forward 0.000000 meters along route # Maximum depth: 544.756526 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 504.756526 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.699703; longitude = -117.452851; captureRadius = 10; duration = 60; initialDepth = 501.494308; finalDepth = 504.756526; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:504.756526 # Seafloor depth:-544.756526 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 541.494308 meters looking forward 0.000000 meters along route # Maximum depth: 541.494308 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 501.494308 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.699162; longitude = -117.453013; captureRadius = 10; duration = 60; initialDepth = 498.563725; finalDepth = 501.494308; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:501.494308 # Seafloor depth:-541.494308 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 538.563725 meters looking forward 0.000000 meters along route # Maximum depth: 538.563725 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 498.563725 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.698620; longitude = -117.453175; captureRadius = 10; duration = 60; initialDepth = 496.420719; finalDepth = 498.563725; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:498.563725 # Seafloor depth:-538.563725 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 536.420719 meters looking forward 0.000000 meters along route # Maximum depth: 536.420719 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 496.420719 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.698079; longitude = -117.453336; captureRadius = 10; duration = 60; initialDepth = 494.174798; finalDepth = 496.420719; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:496.420719 # Seafloor depth:-536.420719 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 534.174798 meters looking forward 0.000000 meters along route # Maximum depth: 534.174798 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 494.174798 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.697538; longitude = -117.453498; captureRadius = 10; duration = 60; initialDepth = 492.947701; finalDepth = 494.174798; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:494.174798 # Seafloor depth:-534.174798 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 532.947701 meters looking forward 0.000000 meters along route # Maximum depth: 532.947701 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 492.947701 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.696996; longitude = -117.453660; captureRadius = 10; duration = 60; initialDepth = 491.781018; finalDepth = 492.947701; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:492.947701 # Seafloor depth:-532.947701 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 531.781018 meters looking forward 0.000000 meters along route # Maximum depth: 531.781018 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 491.781018 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.696455; longitude = -117.453821; captureRadius = 10; duration = 60; initialDepth = 490.471674; finalDepth = 491.781018; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:491.781018 # Seafloor depth:-531.781018 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 530.471674 meters looking forward 0.000000 meters along route # Maximum depth: 530.471674 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 490.471674 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.695913; longitude = -117.453983; captureRadius = 10; duration = 60; initialDepth = 488.618354; finalDepth = 490.471674; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:490.471674 # Seafloor depth:-530.471674 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 528.618354 meters looking forward 0.000000 meters along route # Maximum depth: 528.618354 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 488.618354 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.695372; longitude = -117.454145; captureRadius = 10; duration = 60; initialDepth = 487.578715; finalDepth = 488.618354; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:488.618354 # Seafloor depth:-528.618354 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 527.578715 meters looking forward 0.000000 meters along route # Maximum depth: 527.578715 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 487.578715 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.694831; longitude = -117.454307; captureRadius = 10; duration = 60; initialDepth = 486.361027; finalDepth = 487.578715; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:487.578715 # Seafloor depth:-527.578715 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 526.361027 meters looking forward 0.000000 meters along route # Maximum depth: 526.361027 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 486.361027 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.694289; longitude = -117.454468; captureRadius = 10; duration = 60; initialDepth = 485.529872; finalDepth = 486.361027; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:486.361027 # Seafloor depth:-526.361027 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 525.529872 meters looking forward 0.000000 meters along route # Maximum depth: 525.529872 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 485.529872 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.693748; longitude = -117.454630; captureRadius = 10; duration = 60; initialDepth = 485.309809; finalDepth = 485.529872; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:485.529872 # Seafloor depth:-525.529872 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 525.309809 meters looking forward 0.000000 meters along route # Maximum depth: 525.309809 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 485.309809 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.693207; longitude = -117.454792; captureRadius = 10; duration = 60; initialDepth = 483.540009; finalDepth = 485.309809; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:485.309809 # Seafloor depth:-525.309809 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 523.540009 meters looking forward 0.000000 meters along route # Maximum depth: 523.540009 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 483.540009 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.692665; longitude = -117.454953; captureRadius = 10; duration = 60; initialDepth = 482.742937; finalDepth = 483.540009; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:483.540009 # Seafloor depth:-523.540009 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 522.742937 meters looking forward 0.000000 meters along route # Maximum depth: 522.742937 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 482.742937 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.692124; longitude = -117.455115; captureRadius = 10; duration = 60; initialDepth = 481.557786; finalDepth = 482.742937; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:482.742937 # Seafloor depth:-522.742937 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 521.557786 meters looking forward 0.000000 meters along route # Maximum depth: 521.557786 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 481.557786 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.691583; longitude = -117.455277; captureRadius = 10; duration = 60; initialDepth = 479.952832; finalDepth = 481.557786; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:481.557786 # Seafloor depth:-521.557786 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 519.952832 meters looking forward 0.000000 meters along route # Maximum depth: 519.952832 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 479.952832 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.691041; longitude = -117.455439; captureRadius = 10; duration = 60; initialDepth = 479.376126; finalDepth = 479.952832; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:479.952832 # Seafloor depth:-519.952832 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 519.376126 meters looking forward 0.000000 meters along route # Maximum depth: 519.376126 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 479.376126 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.690500; longitude = -117.455600; captureRadius = 10; duration = 60; initialDepth = 478.260507; finalDepth = 479.376126; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:479.376126 # Seafloor depth:-519.376126 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 518.260507 meters looking forward 0.000000 meters along route # Maximum depth: 518.260507 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 478.260507 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.689958; longitude = -117.455762; captureRadius = 10; duration = 60; initialDepth = 476.819701; finalDepth = 478.260507; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:478.260507 # Seafloor depth:-518.260507 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 516.819701 meters looking forward 0.000000 meters along route # Maximum depth: 516.819701 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 476.819701 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.689417; longitude = -117.455924; captureRadius = 10; duration = 60; initialDepth = 477.171448; finalDepth = 476.819701; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:476.819701 # Seafloor depth:-516.819701 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 517.171448 meters looking forward 0.000000 meters along route # Maximum depth: 517.171448 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 477.171448 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.688876; longitude = -117.456085; captureRadius = 10; duration = 60; initialDepth = 476.519206; finalDepth = 477.171448; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:477.171448 # Seafloor depth:-517.171448 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 33 # Segment length 60.876159 meters # Minimum depth: 516.519206 meters looking forward 0.000000 meters along route # Maximum depth: 516.519206 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 476.519206 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.688379; longitude = -117.456234; captureRadius = 10; duration = 60; # abortOnTimeout = True; initialDepth = 476.085610; finalDepth = 476.519206; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:476.519206 # Seafloor depth:-516.519206 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 516.085610 meters looking forward 0.000000 meters along route # Maximum depth: 516.085610 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 476.085610 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.688427; longitude = -117.456127; captureRadius = 10; duration = 60; initialDepth = 474.136387; finalDepth = 476.085610; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:476.08561 # Seafloor depth:-516.085610 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 514.136387 meters looking forward 0.000000 meters along route # Maximum depth: 514.136387 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 474.136387 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.688640; longitude = -117.455647; captureRadius = 10; duration = 60; initialDepth = 473.004776; finalDepth = 474.136387; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:474.136387 # Seafloor depth:-514.136387 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 513.004776 meters looking forward 0.000000 meters along route # Maximum depth: 513.004776 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 473.004776 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.688854; longitude = -117.455167; captureRadius = 10; duration = 60; initialDepth = 472.489725; finalDepth = 473.004776; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:473.004776 # Seafloor depth:-513.004776 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 512.489725 meters looking forward 0.000000 meters along route # Maximum depth: 512.489725 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 472.489725 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.689068; longitude = -117.454686; captureRadius = 10; duration = 60; initialDepth = 472.821718; finalDepth = 472.489725; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:472.489725 # Seafloor depth:-512.489725 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 512.821718 meters looking forward 0.000000 meters along route # Maximum depth: 512.821718 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 472.821718 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.689282; longitude = -117.454205; captureRadius = 10; duration = 60; initialDepth = 473.108089; finalDepth = 472.821718; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:472.821718 # Seafloor depth:-512.821718 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 513.108089 meters looking forward 0.000000 meters along route # Maximum depth: 513.108089 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 473.108089 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.689495; longitude = -117.453726; captureRadius = 10; duration = 60; initialDepth = 472.263507; finalDepth = 473.108089; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:473.108089 # Seafloor depth:-513.108089 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 512.263507 meters looking forward 0.000000 meters along route # Maximum depth: 512.263507 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 472.263507 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.689708; longitude = -117.453246; captureRadius = 10; duration = 60; initialDepth = 472.592085; finalDepth = 472.263507; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:472.263507 # Seafloor depth:-512.263507 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 512.592085 meters looking forward 0.000000 meters along route # Maximum depth: 512.592085 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 472.592085 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.689922; longitude = -117.452766; captureRadius = 10; duration = 60; initialDepth = 471.742587; finalDepth = 472.592085; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:472.592085 # Seafloor depth:-512.592085 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 511.742587 meters looking forward 0.000000 meters along route # Maximum depth: 511.742587 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 471.742587 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.690135; longitude = -117.452286; captureRadius = 10; duration = 60; initialDepth = 472.156829; finalDepth = 471.742587; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:471.742587 # Seafloor depth:-511.742587 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 512.156829 meters looking forward 0.000000 meters along route # Maximum depth: 512.156829 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 472.156829 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.690349; longitude = -117.451805; captureRadius = 10; duration = 60; initialDepth = 471.259915; finalDepth = 472.156829; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:472.156829 # Seafloor depth:-512.156829 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 511.259915 meters looking forward 0.000000 meters along route # Maximum depth: 511.259915 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 471.259915 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.690563; longitude = -117.451325; captureRadius = 10; duration = 60; initialDepth = 471.857676; finalDepth = 471.259915; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:471.259915 # Seafloor depth:-511.259915 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 511.857676 meters looking forward 0.000000 meters along route # Maximum depth: 511.857676 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 471.857676 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.690776; longitude = -117.450845; captureRadius = 10; duration = 60; initialDepth = 471.373830; finalDepth = 471.857676; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:471.857676 # Seafloor depth:-511.857676 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 511.373830 meters looking forward 0.000000 meters along route # Maximum depth: 511.373830 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 471.373830 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.690990; longitude = -117.450365; captureRadius = 10; duration = 60; initialDepth = 469.191240; finalDepth = 471.373830; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:471.37383 # Seafloor depth:-511.373830 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 509.191240 meters looking forward 0.000000 meters along route # Maximum depth: 509.191240 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 469.191240 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.691203; longitude = -117.449885; captureRadius = 10; duration = 60; initialDepth = 469.110846; finalDepth = 469.191240; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:469.19124 # Seafloor depth:-509.191240 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 509.110846 meters looking forward 0.000000 meters along route # Maximum depth: 509.110846 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 469.110846 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.691417; longitude = -117.449405; captureRadius = 10; duration = 60; initialDepth = 470.461240; finalDepth = 469.110846; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:469.110846 # Seafloor depth:-509.110846 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 510.461240 meters looking forward 0.000000 meters along route # Maximum depth: 510.461240 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 470.461240 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.691630; longitude = -117.448924; captureRadius = 10; duration = 60; initialDepth = 469.521026; finalDepth = 470.461240; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:470.46124 # Seafloor depth:-510.461240 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 509.521026 meters looking forward 0.000000 meters along route # Maximum depth: 509.521026 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 469.521026 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.691844; longitude = -117.448444; captureRadius = 10; duration = 60; initialDepth = 468.845526; finalDepth = 469.521026; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:469.521026 # Seafloor depth:-509.521026 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 508.845526 meters looking forward 0.000000 meters along route # Maximum depth: 508.845526 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 468.845526 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.692057; longitude = -117.447964; captureRadius = 10; duration = 60; initialDepth = 469.290835; finalDepth = 468.845526; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:468.845526 # Seafloor depth:-508.845526 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 509.290835 meters looking forward 0.000000 meters along route # Maximum depth: 509.290835 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 469.290835 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.692271; longitude = -117.447484; captureRadius = 10; duration = 60; initialDepth = 469.808446; finalDepth = 469.290835; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:469.290835 # Seafloor depth:-509.290835 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 509.808446 meters looking forward 0.000000 meters along route # Maximum depth: 509.808446 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 469.808446 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.692485; longitude = -117.447004; captureRadius = 10; duration = 60; initialDepth = 470.056171; finalDepth = 469.808446; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:469.808446 # Seafloor depth:-509.808446 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 510.056171 meters looking forward 0.000000 meters along route # Maximum depth: 510.056171 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 470.056171 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.692698; longitude = -117.446524; captureRadius = 10; duration = 60; initialDepth = 471.022498; finalDepth = 470.056171; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:470.056171 # Seafloor depth:-510.056171 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 511.022498 meters looking forward 0.000000 meters along route # Maximum depth: 511.022498 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 471.022498 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.692912; longitude = -117.446043; captureRadius = 10; duration = 60; initialDepth = 473.777438; finalDepth = 471.022498; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:471.022498 # Seafloor depth:-511.022498 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 513.777438 meters looking forward 0.000000 meters along route # Maximum depth: 513.777438 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 473.777438 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.693125; longitude = -117.445563; captureRadius = 10; duration = 60; initialDepth = 472.974062; finalDepth = 473.777438; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:473.777438 # Seafloor depth:-513.777438 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 512.974062 meters looking forward 0.000000 meters along route # Maximum depth: 512.974062 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 472.974062 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.693342; longitude = -117.445076; captureRadius = 10; duration = 60; initialDepth = 472.368287; finalDepth = 472.974062; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:472.974062 # Seafloor depth:-512.974062 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 512.368287 meters looking forward 0.000000 meters along route # Maximum depth: 512.368287 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 472.368287 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.693552; longitude = -117.444603; captureRadius = 10; duration = 60; initialDepth = 470.140121; finalDepth = 472.368287; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:472.368287 # Seafloor depth:-512.368287 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 510.140121 meters looking forward 0.000000 meters along route # Maximum depth: 510.140121 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 470.140121 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.693766; longitude = -117.444123; captureRadius = 10; duration = 60; initialDepth = 467.006554; finalDepth = 470.140121; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:470.140121 # Seafloor depth:-510.140121 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 507.006554 meters looking forward 0.000000 meters along route # Maximum depth: 507.006554 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 467.006554 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.693979; longitude = -117.443642; captureRadius = 10; duration = 60; initialDepth = 466.039867; finalDepth = 467.006554; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:467.006554 # Seafloor depth:-507.006554 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 506.039867 meters looking forward 0.000000 meters along route # Maximum depth: 506.039867 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 466.039867 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.694193; longitude = -117.443162; captureRadius = 10; duration = 60; initialDepth = 464.269429; finalDepth = 466.039867; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:466.039867 # Seafloor depth:-506.039867 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 504.269429 meters looking forward 0.000000 meters along route # Maximum depth: 504.269429 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 464.269429 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.694407; longitude = -117.442682; captureRadius = 10; duration = 60; initialDepth = 462.943405; finalDepth = 464.269429; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:464.269429 # Seafloor depth:-504.269429 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 502.943405 meters looking forward 0.000000 meters along route # Maximum depth: 502.943405 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 462.943405 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.694620; longitude = -117.442202; captureRadius = 10; duration = 60; initialDepth = 461.437553; finalDepth = 462.943405; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:462.943405 # Seafloor depth:-502.943405 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 501.437553 meters looking forward 0.000000 meters along route # Maximum depth: 501.437553 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 461.437553 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.694834; longitude = -117.441722; captureRadius = 10; duration = 60; initialDepth = 459.929230; finalDepth = 461.437553; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:461.437553 # Seafloor depth:-501.437553 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 499.929230 meters looking forward 0.000000 meters along route # Maximum depth: 499.929230 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 459.929230 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.695047; longitude = -117.441242; captureRadius = 10; duration = 60; initialDepth = 458.813947; finalDepth = 459.929230; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:459.92923 # Seafloor depth:-499.929230 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 498.813947 meters looking forward 0.000000 meters along route # Maximum depth: 498.813947 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 458.813947 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.695261; longitude = -117.440761; captureRadius = 10; duration = 60; initialDepth = 457.541734; finalDepth = 458.813947; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:458.813947 # Seafloor depth:-498.813947 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 497.541734 meters looking forward 0.000000 meters along route # Maximum depth: 497.541734 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 457.541734 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.695474; longitude = -117.440281; captureRadius = 10; duration = 60; initialDepth = 455.520518; finalDepth = 457.541734; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:457.541734 # Seafloor depth:-497.541734 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 495.520518 meters looking forward 0.000000 meters along route # Maximum depth: 495.520518 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 455.520518 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.695688; longitude = -117.439801; captureRadius = 10; duration = 60; initialDepth = 455.476477; finalDepth = 455.520518; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:455.520518 # Seafloor depth:-495.520518 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 495.476477 meters looking forward 0.000000 meters along route # Maximum depth: 495.476477 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 455.476477 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.695901; longitude = -117.439321; captureRadius = 10; duration = 60; initialDepth = 454.861424; finalDepth = 455.476477; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:455.476477 # Seafloor depth:-495.476477 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 494.861424 meters looking forward 0.000000 meters along route # Maximum depth: 494.861424 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 454.861424 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.696115; longitude = -117.438841; captureRadius = 10; duration = 60; initialDepth = 454.656137; finalDepth = 454.861424; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:454.861424 # Seafloor depth:-494.861424 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 494.656137 meters looking forward 0.000000 meters along route # Maximum depth: 494.656137 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 454.656137 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.696329; longitude = -117.438361; captureRadius = 10; duration = 60; initialDepth = 454.490615; finalDepth = 454.656137; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:454.656137 # Seafloor depth:-494.656137 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 494.490615 meters looking forward 0.000000 meters along route # Maximum depth: 494.490615 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 454.490615 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.696542; longitude = -117.437880; captureRadius = 10; duration = 60; initialDepth = 454.976601; finalDepth = 454.490615; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:454.490615 # Seafloor depth:-494.490615 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 494.976601 meters looking forward 0.000000 meters along route # Maximum depth: 494.976601 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 454.976601 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.696756; longitude = -117.437400; captureRadius = 10; duration = 60; initialDepth = 456.053174; finalDepth = 454.976601; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:454.976601 # Seafloor depth:-494.976601 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 496.053174 meters looking forward 0.000000 meters along route # Maximum depth: 496.053174 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 456.053174 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.696969; longitude = -117.436920; captureRadius = 10; duration = 60; initialDepth = 455.784195; finalDepth = 456.053174; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:456.053174 # Seafloor depth:-496.053174 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 495.784195 meters looking forward 0.000000 meters along route # Maximum depth: 495.784195 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 455.784195 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.697183; longitude = -117.436440; captureRadius = 10; duration = 60; initialDepth = 457.375108; finalDepth = 455.784195; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:455.784195 # Seafloor depth:-495.784195 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 497.375108 meters looking forward 0.000000 meters along route # Maximum depth: 497.375108 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 457.375108 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.697396; longitude = -117.435960; captureRadius = 10; duration = 60; initialDepth = 457.949850; finalDepth = 457.375108; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:457.375108 # Seafloor depth:-497.375108 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 497.949850 meters looking forward 0.000000 meters along route # Maximum depth: 497.949850 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 457.949850 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.697610; longitude = -117.435480; captureRadius = 10; duration = 60; initialDepth = 458.450153; finalDepth = 457.949850; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:457.94985 # Seafloor depth:-497.949850 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 498.450153 meters looking forward 0.000000 meters along route # Maximum depth: 498.450153 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 458.450153 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.697823; longitude = -117.434999; captureRadius = 10; duration = 60; initialDepth = 459.998594; finalDepth = 458.450153; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:458.450153 # Seafloor depth:-498.450153 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 499.998594 meters looking forward 0.000000 meters along route # Maximum depth: 499.998594 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 459.998594 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.698037; longitude = -117.434519; captureRadius = 10; duration = 60; initialDepth = 461.536560; finalDepth = 459.998594; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:459.998594 # Seafloor depth:-499.998594 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 501.536560 meters looking forward 0.000000 meters along route # Maximum depth: 501.536560 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 461.536560 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.698251; longitude = -117.434039; captureRadius = 10; duration = 60; initialDepth = 463.128617; finalDepth = 461.536560; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:461.53656 # Seafloor depth:-501.536560 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 503.128617 meters looking forward 0.000000 meters along route # Maximum depth: 503.128617 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 463.128617 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.698464; longitude = -117.433559; captureRadius = 10; duration = 60; initialDepth = 464.266990; finalDepth = 463.128617; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:463.128617 # Seafloor depth:-503.128617 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 504.266990 meters looking forward 0.000000 meters along route # Maximum depth: 504.266990 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 464.266990 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.698678; longitude = -117.433079; captureRadius = 10; duration = 60; initialDepth = 465.084802; finalDepth = 464.266990; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:464.26699 # Seafloor depth:-504.266990 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 505.084802 meters looking forward 0.000000 meters along route # Maximum depth: 505.084802 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 465.084802 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.698891; longitude = -117.432599; captureRadius = 10; duration = 60; initialDepth = 467.633951; finalDepth = 465.084802; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:465.084802 # Seafloor depth:-505.084802 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 507.633951 meters looking forward 0.000000 meters along route # Maximum depth: 507.633951 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 467.633951 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.699105; longitude = -117.432118; captureRadius = 10; duration = 60; initialDepth = 469.294149; finalDepth = 467.633951; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:467.633951 # Seafloor depth:-507.633951 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 32 # Segment length 60.876159 meters # Minimum depth: 509.294149 meters looking forward 0.000000 meters along route # Maximum depth: 509.294149 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 469.294149 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.699342; longitude = -117.431585; captureRadius = 10; duration = 60; # abortOnTimeout = True; initialDepth = 466.647948; finalDepth = 469.294149; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:469.294149 # Seafloor depth:-509.294149 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 506.647948 meters looking forward 0.000000 meters along route # Maximum depth: 506.647948 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 466.647948 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.699026; longitude = -117.431474; captureRadius = 10; duration = 60; initialDepth = 464.271746; finalDepth = 466.647948; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:466.647948 # Seafloor depth:-506.647948 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 504.271746 meters looking forward 0.000000 meters along route # Maximum depth: 504.271746 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 464.271746 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.698581; longitude = -117.431318; captureRadius = 10; duration = 60; initialDepth = 462.889217; finalDepth = 464.271746; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:464.271746 # Seafloor depth:-504.271746 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 502.889217 meters looking forward 0.000000 meters along route # Maximum depth: 502.889217 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 462.889217 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.698125; longitude = -117.431158; captureRadius = 10; duration = 60; initialDepth = 460.635005; finalDepth = 462.889217; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:462.889217 # Seafloor depth:-502.889217 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 500.635005 meters looking forward 0.000000 meters along route # Maximum depth: 500.635005 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 460.635005 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.697668; longitude = -117.430998; captureRadius = 10; duration = 60; initialDepth = 458.327348; finalDepth = 460.635005; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:460.635005 # Seafloor depth:-500.635005 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 498.327348 meters looking forward 0.000000 meters along route # Maximum depth: 498.327348 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 458.327348 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.697212; longitude = -117.430838; captureRadius = 10; duration = 60; initialDepth = 456.254774; finalDepth = 458.327348; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:458.327348 # Seafloor depth:-498.327348 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 496.254774 meters looking forward 0.000000 meters along route # Maximum depth: 496.254774 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 456.254774 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.696755; longitude = -117.430678; captureRadius = 10; duration = 60; initialDepth = 454.482732; finalDepth = 456.254774; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:456.254774 # Seafloor depth:-496.254774 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 494.482732 meters looking forward 0.000000 meters along route # Maximum depth: 494.482732 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 454.482732 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.696299; longitude = -117.430518; captureRadius = 10; duration = 60; initialDepth = 452.405885; finalDepth = 454.482732; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:454.482732 # Seafloor depth:-494.482732 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 492.405885 meters looking forward 0.000000 meters along route # Maximum depth: 492.405885 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 452.405885 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.695842; longitude = -117.430358; captureRadius = 10; duration = 60; initialDepth = 449.437479; finalDepth = 452.405885; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:452.405885 # Seafloor depth:-492.405885 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 489.437479 meters looking forward 0.000000 meters along route # Maximum depth: 489.437479 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 449.437479 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.695372; longitude = -117.430193; captureRadius = 10; duration = 60; initialDepth = 445.912299; finalDepth = 449.437479; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:449.437479 # Seafloor depth:-489.437479 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 485.912299 meters looking forward 0.000000 meters along route # Maximum depth: 485.912299 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 445.912299 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.694929; longitude = -117.430038; captureRadius = 10; duration = 60; initialDepth = 442.763870; finalDepth = 445.912299; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:445.912299 # Seafloor depth:-485.912299 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 482.763870 meters looking forward 0.000000 meters along route # Maximum depth: 482.763870 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 442.763870 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.694473; longitude = -117.429878; captureRadius = 10; duration = 60; initialDepth = 440.528384; finalDepth = 442.763870; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:442.76387 # Seafloor depth:-482.763870 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 480.528384 meters looking forward 0.000000 meters along route # Maximum depth: 480.528384 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 440.528384 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.694016; longitude = -117.429718; captureRadius = 10; duration = 60; initialDepth = 435.704916; finalDepth = 440.528384; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:440.528384 # Seafloor depth:-480.528384 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 475.704916 meters looking forward 0.000000 meters along route # Maximum depth: 475.704916 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 435.704916 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.693560; longitude = -117.429558; captureRadius = 10; duration = 60; initialDepth = 431.689464; finalDepth = 435.704916; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:435.704916 # Seafloor depth:-475.704916 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 471.689464 meters looking forward 0.000000 meters along route # Maximum depth: 471.689464 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 431.689464 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.693103; longitude = -117.429397; captureRadius = 10; duration = 60; initialDepth = 429.379074; finalDepth = 431.689464; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:431.689464 # Seafloor depth:-471.689464 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 469.379074 meters looking forward 0.000000 meters along route # Maximum depth: 469.379074 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 429.379074 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.692647; longitude = -117.429237; captureRadius = 10; duration = 60; initialDepth = 425.353233; finalDepth = 429.379074; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:429.379074 # Seafloor depth:-469.379074 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 465.353233 meters looking forward 0.000000 meters along route # Maximum depth: 465.353233 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 425.353233 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.692190; longitude = -117.429077; captureRadius = 10; duration = 60; initialDepth = 421.531028; finalDepth = 425.353233; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:425.353233 # Seafloor depth:-465.353233 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 461.531028 meters looking forward 0.000000 meters along route # Maximum depth: 461.531028 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 421.531028 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.691718; longitude = -117.428912; captureRadius = 10; duration = 60; initialDepth = 418.517127; finalDepth = 421.531028; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:421.531028 # Seafloor depth:-461.531028 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 458.517127 meters looking forward 0.000000 meters along route # Maximum depth: 458.517127 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 418.517127 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.691277; longitude = -117.428757; captureRadius = 10; duration = 60; initialDepth = 415.873838; finalDepth = 418.517127; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:418.517127 # Seafloor depth:-458.517127 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 455.873838 meters looking forward 0.000000 meters along route # Maximum depth: 455.873838 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 415.873838 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.690821; longitude = -117.428597; captureRadius = 10; duration = 60; initialDepth = 412.870514; finalDepth = 415.873838; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:415.873838 # Seafloor depth:-455.873838 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 452.870514 meters looking forward 0.000000 meters along route # Maximum depth: 452.870514 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 412.870514 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.690364; longitude = -117.428437; captureRadius = 10; duration = 60; initialDepth = 409.949375; finalDepth = 412.870514; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:412.870514 # Seafloor depth:-452.870514 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 449.949375 meters looking forward 0.000000 meters along route # Maximum depth: 449.949375 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 409.949375 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.689908; longitude = -117.428277; captureRadius = 10; duration = 60; initialDepth = 407.235202; finalDepth = 409.949375; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:409.949375 # Seafloor depth:-449.949375 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 447.235202 meters looking forward 0.000000 meters along route # Maximum depth: 447.235202 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 407.235202 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.689451; longitude = -117.428117; captureRadius = 10; duration = 60; initialDepth = 404.477921; finalDepth = 407.235202; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:407.235202 # Seafloor depth:-447.235202 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 444.477921 meters looking forward 0.000000 meters along route # Maximum depth: 444.477921 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 404.477921 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.688995; longitude = -117.427957; captureRadius = 10; duration = 60; initialDepth = 401.273324; finalDepth = 404.477921; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:404.477921 # Seafloor depth:-444.477921 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 441.273324 meters looking forward 0.000000 meters along route # Maximum depth: 441.273324 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 401.273324 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.688539; longitude = -117.427797; captureRadius = 10; duration = 60; initialDepth = 398.424485; finalDepth = 401.273324; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:401.273324 # Seafloor depth:-441.273324 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 438.424485 meters looking forward 0.000000 meters along route # Maximum depth: 438.424485 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 398.424485 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.688064; longitude = -117.427630; captureRadius = 10; duration = 60; initialDepth = 396.540318; finalDepth = 398.424485; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:398.424485 # Seafloor depth:-438.424485 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 436.540318 meters looking forward 0.000000 meters along route # Maximum depth: 436.540318 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 396.540318 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.687626; longitude = -117.427477; captureRadius = 10; duration = 60; initialDepth = 393.908456; finalDepth = 396.540318; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:396.540318 # Seafloor depth:-436.540318 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 433.908456 meters looking forward 0.000000 meters along route # Maximum depth: 433.908456 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 393.908456 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.687169; longitude = -117.427317; captureRadius = 10; duration = 60; initialDepth = 391.688436; finalDepth = 393.908456; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:393.908456 # Seafloor depth:-433.908456 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 431.688436 meters looking forward 0.000000 meters along route # Maximum depth: 431.688436 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 391.688436 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.686710; longitude = -117.427156; captureRadius = 10; duration = 60; initialDepth = 389.111062; finalDepth = 391.688436; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:391.688436 # Seafloor depth:-431.688436 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 429.111062 meters looking forward 0.000000 meters along route # Maximum depth: 429.111062 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 389.111062 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.686256; longitude = -117.426997; captureRadius = 10; duration = 60; initialDepth = 387.581696; finalDepth = 389.111062; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:389.111062 # Seafloor depth:-429.111062 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 427.581696 meters looking forward 0.000000 meters along route # Maximum depth: 427.581696 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 387.581696 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.685800; longitude = -117.426837; captureRadius = 10; duration = 60; initialDepth = 385.584468; finalDepth = 387.581696; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:387.581696 # Seafloor depth:-427.581696 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 425.584468 meters looking forward 0.000000 meters along route # Maximum depth: 425.584468 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 385.584468 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.685343; longitude = -117.426677; captureRadius = 10; duration = 60; initialDepth = 383.073917; finalDepth = 385.584468; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:385.584468 # Seafloor depth:-425.584468 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 423.073917 meters looking forward 0.000000 meters along route # Maximum depth: 423.073917 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 383.073917 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.684887; longitude = -117.426516; captureRadius = 10; duration = 60; initialDepth = 381.047283; finalDepth = 383.073917; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:383.073917 # Seafloor depth:-423.073917 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 421.047283 meters looking forward 0.000000 meters along route # Maximum depth: 421.047283 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 381.047283 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.684409; longitude = -117.426349; captureRadius = 10; duration = 60; initialDepth = 378.554811; finalDepth = 381.047283; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:381.047283 # Seafloor depth:-421.047283 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 418.554811 meters looking forward 0.000000 meters along route # Maximum depth: 418.554811 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 378.554811 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.683974; longitude = -117.426196; captureRadius = 10; duration = 60; initialDepth = 378.015099; finalDepth = 378.554811; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:378.554811 # Seafloor depth:-418.554811 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 418.015099 meters looking forward 0.000000 meters along route # Maximum depth: 418.015099 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 378.015099 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.683517; longitude = -117.426036; captureRadius = 10; duration = 60; initialDepth = 376.733700; finalDepth = 378.015099; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:378.015099 # Seafloor depth:-418.015099 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 416.733700 meters looking forward 0.000000 meters along route # Maximum depth: 416.733700 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 376.733700 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.683056; longitude = -117.425875; captureRadius = 10; duration = 60; initialDepth = 375.233597; finalDepth = 376.733700; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:376.7337 # Seafloor depth:-416.733700 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 415.233597 meters looking forward 0.000000 meters along route # Maximum depth: 415.233597 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 375.233597 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.682604; longitude = -117.425716; captureRadius = 10; duration = 60; initialDepth = 374.343985; finalDepth = 375.233597; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:375.233597 # Seafloor depth:-415.233597 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 414.343985 meters looking forward 0.000000 meters along route # Maximum depth: 414.343985 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 374.343985 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.682148; longitude = -117.425556; captureRadius = 10; duration = 60; initialDepth = 373.169188; finalDepth = 374.343985; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:374.343985 # Seafloor depth:-414.343985 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 413.169188 meters looking forward 0.000000 meters along route # Maximum depth: 413.169188 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 373.169188 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.681691; longitude = -117.425396; captureRadius = 10; duration = 60; initialDepth = 372.096158; finalDepth = 373.169188; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:373.169188 # Seafloor depth:-413.169188 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 412.096158 meters looking forward 0.000000 meters along route # Maximum depth: 412.096158 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 372.096158 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.681235; longitude = -117.425236; captureRadius = 10; duration = 60; initialDepth = 371.076755; finalDepth = 372.096158; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:372.096158 # Seafloor depth:-412.096158 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 411.076755 meters looking forward 0.000000 meters along route # Maximum depth: 411.076755 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 371.076755 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.680755; longitude = -117.425068; captureRadius = 10; duration = 60; initialDepth = 370.103667; finalDepth = 371.076755; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:371.076755 # Seafloor depth:-411.076755 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 410.103667 meters looking forward 0.000000 meters along route # Maximum depth: 410.103667 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 370.103667 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.680322; longitude = -117.424916; captureRadius = 10; duration = 60; initialDepth = 370.731442; finalDepth = 370.103667; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:370.103667 # Seafloor depth:-410.103667 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 410.731442 meters looking forward 0.000000 meters along route # Maximum depth: 410.731442 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 370.731442 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.679865; longitude = -117.424756; captureRadius = 10; duration = 60; initialDepth = 371.446405; finalDepth = 370.731442; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:370.731442 # Seafloor depth:-410.731442 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 411.446405 meters looking forward 0.000000 meters along route # Maximum depth: 411.446405 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 371.446405 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.679402; longitude = -117.424593; captureRadius = 10; duration = 60; initialDepth = 369.763724; finalDepth = 371.446405; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:371.446405 # Seafloor depth:-411.446405 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 409.763724 meters looking forward 0.000000 meters along route # Maximum depth: 409.763724 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 369.763724 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.678952; longitude = -117.424436; captureRadius = 10; duration = 60; initialDepth = 369.755624; finalDepth = 369.763724; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:369.763724 # Seafloor depth:-409.763724 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 409.755624 meters looking forward 0.000000 meters along route # Maximum depth: 409.755624 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 369.755624 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.678496; longitude = -117.424276; captureRadius = 10; duration = 60; initialDepth = 370.802633; finalDepth = 369.755624; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:369.755624 # Seafloor depth:-409.755624 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 410.802633 meters looking forward 0.000000 meters along route # Maximum depth: 410.802633 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 370.802633 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.678039; longitude = -117.424116; captureRadius = 10; duration = 60; initialDepth = 373.164055; finalDepth = 370.802633; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:370.802633 # Seafloor depth:-410.802633 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 413.164055 meters looking forward 0.000000 meters along route # Maximum depth: 413.164055 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 373.164055 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.677583; longitude = -117.423956; captureRadius = 10; duration = 60; initialDepth = 373.696655; finalDepth = 373.164055; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:373.164055 # Seafloor depth:-413.164055 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 413.696655 meters looking forward 0.000000 meters along route # Maximum depth: 413.696655 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 373.696655 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.677126; longitude = -117.423796; captureRadius = 10; duration = 60; initialDepth = 376.804336; finalDepth = 373.696655; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:373.696655 # Seafloor depth:-413.696655 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 416.804336 meters looking forward 0.000000 meters along route # Maximum depth: 416.804336 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 376.804336 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.676670; longitude = -117.423635; captureRadius = 10; duration = 60; initialDepth = 379.563605; finalDepth = 376.804336; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:376.804336 # Seafloor depth:-416.804336 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 419.563605 meters looking forward 0.000000 meters along route # Maximum depth: 419.563605 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 379.563605 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.676213; longitude = -117.423475; captureRadius = 10; duration = 60; initialDepth = 381.682426; finalDepth = 379.563605; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:379.563605 # Seafloor depth:-419.563605 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 421.682426 meters looking forward 0.000000 meters along route # Maximum depth: 421.682426 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 381.682426 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.675748; longitude = -117.423312; captureRadius = 10; duration = 60; initialDepth = 385.331794; finalDepth = 381.682426; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:381.682426 # Seafloor depth:-421.682426 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 425.331794 meters looking forward 0.000000 meters along route # Maximum depth: 425.331794 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 385.331794 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.675300; longitude = -117.423155; captureRadius = 10; duration = 60; initialDepth = 389.367433; finalDepth = 385.331794; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:385.331794 # Seafloor depth:-425.331794 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 429.367433 meters looking forward 0.000000 meters along route # Maximum depth: 429.367433 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 389.367433 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.674844; longitude = -117.422995; captureRadius = 10; duration = 60; initialDepth = 392.152013; finalDepth = 389.367433; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:389.367433 # Seafloor depth:-429.367433 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 432.152013 meters looking forward 0.000000 meters along route # Maximum depth: 432.152013 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 392.152013 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.674387; longitude = -117.422835; captureRadius = 10; duration = 60; initialDepth = 394.014069; finalDepth = 392.152013; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:392.152013 # Seafloor depth:-432.152013 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 434.014069 meters looking forward 0.000000 meters along route # Maximum depth: 434.014069 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 394.014069 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.673931; longitude = -117.422675; captureRadius = 10; duration = 60; initialDepth = 394.979930; finalDepth = 394.014069; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:394.014069 # Seafloor depth:-434.014069 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 434.979930 meters looking forward 0.000000 meters along route # Maximum depth: 434.979930 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 394.979930 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.673447; longitude = -117.422505; captureRadius = 10; duration = 60; initialDepth = 397.328060; finalDepth = 394.979930; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:394.97993 # Seafloor depth:-434.979930 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 437.328060 meters looking forward 0.000000 meters along route # Maximum depth: 437.328060 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 397.328060 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.672905; longitude = -117.422316; captureRadius = 10; duration = 60; initialDepth = 399.653198; finalDepth = 397.328060; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:397.32806 # Seafloor depth:-437.328060 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 31 # Segment length 60.876159 meters # Minimum depth: 439.653198 meters looking forward 0.000000 meters along route # Maximum depth: 439.653198 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 399.653198 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.672409; longitude = -117.422142; captureRadius = 10; duration = 60; # abortOnTimeout = True; initialDepth = 399.895379; finalDepth = 399.653198; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:399.653198 # Seafloor depth:-439.653198 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 439.895379 meters looking forward 0.000000 meters along route # Maximum depth: 439.895379 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 399.895379 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.672635; longitude = -117.422414; captureRadius = 10; duration = 60; initialDepth = 398.998144; finalDepth = 399.895379; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:399.895379 # Seafloor depth:-439.895379 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 438.998144 meters looking forward 0.000000 meters along route # Maximum depth: 438.998144 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 398.998144 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.672984; longitude = -117.422835; captureRadius = 10; duration = 60; initialDepth = 399.461496; finalDepth = 398.998144; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:398.998144 # Seafloor depth:-438.998144 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 439.461496 meters looking forward 0.000000 meters along route # Maximum depth: 439.461496 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 399.461496 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.673311; longitude = -117.423230; captureRadius = 10; duration = 60; initialDepth = 399.396281; finalDepth = 399.461496; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:399.461496 # Seafloor depth:-439.461496 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 439.396281 meters looking forward 0.000000 meters along route # Maximum depth: 439.396281 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 399.396281 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.673647; longitude = -117.423635; captureRadius = 10; duration = 60; initialDepth = 398.331347; finalDepth = 399.396281; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:399.396281 # Seafloor depth:-439.396281 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 438.331347 meters looking forward 0.000000 meters along route # Maximum depth: 438.331347 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 398.331347 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.673988; longitude = -117.424047; captureRadius = 10; duration = 60; initialDepth = 398.379864; finalDepth = 398.331347; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:398.331347 # Seafloor depth:-438.331347 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 438.379864 meters looking forward 0.000000 meters along route # Maximum depth: 438.379864 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 398.379864 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.674310; longitude = -117.424436; captureRadius = 10; duration = 60; initialDepth = 399.333529; finalDepth = 398.379864; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:398.379864 # Seafloor depth:-438.379864 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 439.333529 meters looking forward 0.000000 meters along route # Maximum depth: 439.333529 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 399.333529 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.674708; longitude = -117.424916; captureRadius = 10; duration = 60; initialDepth = 399.777804; finalDepth = 399.333529; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:399.333529 # Seafloor depth:-439.333529 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 439.777804 meters looking forward 0.000000 meters along route # Maximum depth: 439.777804 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 399.777804 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.675106; longitude = -117.425396; captureRadius = 10; duration = 60; initialDepth = 400.180408; finalDepth = 399.777804; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:399.777804 # Seafloor depth:-439.777804 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 440.180408 meters looking forward 0.000000 meters along route # Maximum depth: 440.180408 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 400.180408 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.675504; longitude = -117.425876; captureRadius = 10; duration = 60; initialDepth = 401.396102; finalDepth = 400.180408; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:400.180408 # Seafloor depth:-440.180408 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 441.396102 meters looking forward 0.000000 meters along route # Maximum depth: 441.396102 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 401.396102 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.675902; longitude = -117.426356; captureRadius = 10; duration = 60; initialDepth = 402.214626; finalDepth = 401.396102; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:401.396102 # Seafloor depth:-441.396102 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 442.214626 meters looking forward 0.000000 meters along route # Maximum depth: 442.214626 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 402.214626 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.676300; longitude = -117.426837; captureRadius = 10; duration = 60; initialDepth = 402.339053; finalDepth = 402.214626; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:402.214626 # Seafloor depth:-442.214626 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 442.339053 meters looking forward 0.000000 meters along route # Maximum depth: 442.339053 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 402.339053 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.676698; longitude = -117.427317; captureRadius = 10; duration = 60; initialDepth = 404.279916; finalDepth = 402.339053; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:402.339053 # Seafloor depth:-442.339053 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 444.279916 meters looking forward 0.000000 meters along route # Maximum depth: 444.279916 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 404.279916 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.677101; longitude = -117.427803; captureRadius = 10; duration = 60; initialDepth = 405.178256; finalDepth = 404.279916; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:404.279916 # Seafloor depth:-444.279916 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 445.178256 meters looking forward 0.000000 meters along route # Maximum depth: 445.178256 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 405.178256 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.677507; longitude = -117.428293; captureRadius = 10; duration = 60; initialDepth = 406.377492; finalDepth = 405.178256; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:405.178256 # Seafloor depth:-445.178256 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 446.377492 meters looking forward 0.000000 meters along route # Maximum depth: 446.377492 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 406.377492 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.677913; longitude = -117.428783; captureRadius = 10; duration = 60; initialDepth = 411.581982; finalDepth = 406.377492; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:406.377492 # Seafloor depth:-446.377492 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 451.581982 meters looking forward 0.000000 meters along route # Maximum depth: 451.581982 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 411.581982 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.678319; longitude = -117.429273; captureRadius = 10; duration = 60; initialDepth = 419.209399; finalDepth = 411.581982; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:411.581982 # Seafloor depth:-451.581982 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 459.209399 meters looking forward 0.000000 meters along route # Maximum depth: 459.209399 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 419.209399 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.678725; longitude = -117.429763; captureRadius = 10; duration = 60; initialDepth = 417.450399; finalDepth = 419.209399; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:419.209399 # Seafloor depth:-459.209399 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 30 # Segment length 60.876159 meters # Minimum depth: 457.450399 meters looking forward 0.000000 meters along route # Maximum depth: 457.450399 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 417.450399 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.679041; longitude = -117.430144; captureRadius = 10; duration = 60; # abortOnTimeout = True; initialDepth = 417.406123; finalDepth = 417.450399; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:417.450399 # Seafloor depth:-457.450399 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 457.406123 meters looking forward 0.000000 meters along route # Maximum depth: 457.406123 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 417.406123 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.679131; longitude = -117.430261; captureRadius = 10; duration = 60; initialDepth = 420.922436; finalDepth = 417.406123; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:417.406123 # Seafloor depth:-457.406123 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 460.922436 meters looking forward 0.000000 meters along route # Maximum depth: 460.922436 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 420.922436 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.679454; longitude = -117.430678; captureRadius = 10; duration = 60; initialDepth = 426.700692; finalDepth = 420.922436; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:420.922436 # Seafloor depth:-460.922436 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 466.700692 meters looking forward 0.000000 meters along route # Maximum depth: 466.700692 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 426.700692 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.679826; longitude = -117.431158; captureRadius = 10; duration = 60; initialDepth = 429.021794; finalDepth = 426.700692; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:426.700692 # Seafloor depth:-466.700692 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 469.021794 meters looking forward 0.000000 meters along route # Maximum depth: 469.021794 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 429.021794 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.680214; longitude = -117.431659; captureRadius = 10; duration = 60; initialDepth = 430.870193; finalDepth = 429.021794; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:429.021794 # Seafloor depth:-469.021794 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 470.870193 meters looking forward 0.000000 meters along route # Maximum depth: 470.870193 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 430.870193 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.680620; longitude = -117.432183; captureRadius = 10; duration = 60; initialDepth = 426.624705; finalDepth = 430.870193; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:430.870193 # Seafloor depth:-470.870193 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 466.624705 meters looking forward 0.000000 meters along route # Maximum depth: 466.624705 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 426.624705 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.680942; longitude = -117.432599; captureRadius = 10; duration = 60; initialDepth = 427.245626; finalDepth = 426.624705; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:426.624705 # Seafloor depth:-466.624705 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 467.245626 meters looking forward 0.000000 meters along route # Maximum depth: 467.245626 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 427.245626 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.681314; longitude = -117.433079; captureRadius = 10; duration = 60; initialDepth = 426.429462; finalDepth = 427.245626; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:427.245626 # Seafloor depth:-467.245626 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 466.429462 meters looking forward 0.000000 meters along route # Maximum depth: 466.429462 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 426.429462 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.681703; longitude = -117.433580; captureRadius = 10; duration = 60; initialDepth = 425.995879; finalDepth = 426.429462; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:426.429462 # Seafloor depth:-466.429462 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 465.995879 meters looking forward 0.000000 meters along route # Maximum depth: 465.995879 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 425.995879 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.682109; longitude = -117.434105; captureRadius = 10; duration = 60; initialDepth = 428.265837; finalDepth = 425.995879; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:425.995879 # Seafloor depth:-465.995879 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 468.265837 meters looking forward 0.000000 meters along route # Maximum depth: 468.265837 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 428.265837 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.682430; longitude = -117.434519; captureRadius = 10; duration = 60; initialDepth = 430.660602; finalDepth = 428.265837; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:428.265837 # Seafloor depth:-468.265837 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 470.660602 meters looking forward 0.000000 meters along route # Maximum depth: 470.660602 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 430.660602 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.682802; longitude = -117.434999; captureRadius = 10; duration = 60; initialDepth = 432.539495; finalDepth = 430.660602; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:430.660602 # Seafloor depth:-470.660602 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 472.539495 meters looking forward 0.000000 meters along route # Maximum depth: 472.539495 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 432.539495 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.683191; longitude = -117.435502; captureRadius = 10; duration = 60; initialDepth = 435.726997; finalDepth = 432.539495; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:432.539495 # Seafloor depth:-472.539495 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 475.726997 meters looking forward 0.000000 meters along route # Maximum depth: 475.726997 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 435.726997 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.683597; longitude = -117.436026; captureRadius = 10; duration = 60; initialDepth = 436.715903; finalDepth = 435.726997; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:435.726997 # Seafloor depth:-475.726997 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 476.715903 meters looking forward 0.000000 meters along route # Maximum depth: 476.715903 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 436.715903 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.683918; longitude = -117.436440; captureRadius = 10; duration = 60; initialDepth = 435.575597; finalDepth = 436.715903; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:436.715903 # Seafloor depth:-476.715903 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 475.575597 meters looking forward 0.000000 meters along route # Maximum depth: 475.575597 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 435.575597 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.684290; longitude = -117.436920; captureRadius = 10; duration = 60; initialDepth = 435.137598; finalDepth = 435.575597; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:435.575597 # Seafloor depth:-475.575597 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 475.137598 meters looking forward 0.000000 meters along route # Maximum depth: 475.137598 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 435.137598 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.684680; longitude = -117.437424; captureRadius = 10; duration = 60; initialDepth = 436.159729; finalDepth = 435.137598; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:435.137598 # Seafloor depth:-475.137598 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 476.159729 meters looking forward 0.000000 meters along route # Maximum depth: 476.159729 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 436.159729 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.685086; longitude = -117.437948; captureRadius = 10; duration = 60; initialDepth = 437.426636; finalDepth = 436.159729; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:436.159729 # Seafloor depth:-476.159729 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 29 # Segment length 60.876159 meters # Minimum depth: 477.426636 meters looking forward 0.000000 meters along route # Maximum depth: 477.426636 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 437.426636 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.685447; longitude = -117.438414; captureRadius = 10; duration = 60; # abortOnTimeout = True; initialDepth = 437.443351; finalDepth = 437.426636; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:437.426636 # Seafloor depth:-477.426636 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 477.443351 meters looking forward 0.000000 meters along route # Maximum depth: 477.443351 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 437.443351 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.685763; longitude = -117.438682; captureRadius = 10; duration = 60; initialDepth = 438.629868; finalDepth = 437.443351; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:437.443351 # Seafloor depth:-477.443351 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 478.629868 meters looking forward 0.000000 meters along route # Maximum depth: 478.629868 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 438.629868 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.686138; longitude = -117.439001; captureRadius = 10; duration = 60; initialDepth = 440.320351; finalDepth = 438.629868; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:438.629868 # Seafloor depth:-478.629868 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 480.320351 meters looking forward 0.000000 meters along route # Maximum depth: 480.320351 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 440.320351 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.686515; longitude = -117.439321; captureRadius = 10; duration = 60; initialDepth = 441.502311; finalDepth = 440.320351; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:440.320351 # Seafloor depth:-480.320351 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 481.502311 meters looking forward 0.000000 meters along route # Maximum depth: 481.502311 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 441.502311 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.686892; longitude = -117.439641; captureRadius = 10; duration = 60; initialDepth = 443.378947; finalDepth = 441.502311; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:441.502311 # Seafloor depth:-481.502311 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 483.378947 meters looking forward 0.000000 meters along route # Maximum depth: 483.378947 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 443.378947 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.687269; longitude = -117.439961; captureRadius = 10; duration = 60; initialDepth = 444.001968; finalDepth = 443.378947; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:443.378947 # Seafloor depth:-483.378947 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 484.001968 meters looking forward 0.000000 meters along route # Maximum depth: 484.001968 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 444.001968 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.687646; longitude = -117.440281; captureRadius = 10; duration = 60; initialDepth = 446.076166; finalDepth = 444.001968; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:444.001968 # Seafloor depth:-484.001968 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 486.076166 meters looking forward 0.000000 meters along route # Maximum depth: 486.076166 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 446.076166 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.688023; longitude = -117.440601; captureRadius = 10; duration = 60; initialDepth = 448.190728; finalDepth = 446.076166; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:446.076166 # Seafloor depth:-486.076166 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 488.190728 meters looking forward 0.000000 meters along route # Maximum depth: 488.190728 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 448.190728 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.688400; longitude = -117.440922; captureRadius = 10; duration = 60; initialDepth = 450.969806; finalDepth = 448.190728; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:448.190728 # Seafloor depth:-488.190728 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 490.969806 meters looking forward 0.000000 meters along route # Maximum depth: 490.969806 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 450.969806 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.688777; longitude = -117.441242; captureRadius = 10; duration = 60; initialDepth = 453.996031; finalDepth = 450.969806; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:450.969806 # Seafloor depth:-490.969806 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 493.996031 meters looking forward 0.000000 meters along route # Maximum depth: 493.996031 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 453.996031 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.689154; longitude = -117.441562; captureRadius = 10; duration = 60; initialDepth = 458.567863; finalDepth = 453.996031; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:453.996031 # Seafloor depth:-493.996031 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 498.567863 meters looking forward 0.000000 meters along route # Maximum depth: 498.567863 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 458.567863 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.689531; longitude = -117.441882; captureRadius = 10; duration = 60; initialDepth = 458.850563; finalDepth = 458.567863; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:458.567863 # Seafloor depth:-498.567863 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 498.850563 meters looking forward 0.000000 meters along route # Maximum depth: 498.850563 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 458.850563 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.689909; longitude = -117.442202; captureRadius = 10; duration = 60; initialDepth = 463.165321; finalDepth = 458.850563; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:458.850563 # Seafloor depth:-498.850563 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 503.165321 meters looking forward 0.000000 meters along route # Maximum depth: 503.165321 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 463.165321 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.690286; longitude = -117.442522; captureRadius = 10; duration = 60; initialDepth = 466.691650; finalDepth = 463.165321; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:463.165321 # Seafloor depth:-503.165321 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 28 # Segment length 60.876159 meters # Minimum depth: 506.691650 meters looking forward 0.000000 meters along route # Maximum depth: 506.691650 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 466.691650 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.690725; longitude = -117.442896; captureRadius = 10; duration = 60; # abortOnTimeout = True; initialDepth = 466.143079; finalDepth = 466.691650; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:466.69165 # Seafloor depth:-506.691650 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 506.143079 meters looking forward 0.000000 meters along route # Maximum depth: 506.143079 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 466.143079 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.690826; longitude = -117.443002; captureRadius = 10; duration = 60; initialDepth = 466.291453; finalDepth = 466.143079; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:466.143079 # Seafloor depth:-506.143079 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 506.291453 meters looking forward 0.000000 meters along route # Maximum depth: 506.291453 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 466.291453 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.691177; longitude = -117.443375; captureRadius = 10; duration = 60; initialDepth = 465.753798; finalDepth = 466.291453; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:466.291453 # Seafloor depth:-506.291453 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 505.753798 meters looking forward 0.000000 meters along route # Maximum depth: 505.753798 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 465.753798 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.691583; longitude = -117.443806; captureRadius = 10; duration = 60; initialDepth = 468.161955; finalDepth = 465.753798; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:465.753798 # Seafloor depth:-505.753798 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 508.161955 meters looking forward 0.000000 meters along route # Maximum depth: 508.161955 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 468.161955 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.692031; longitude = -117.444283; captureRadius = 10; duration = 60; initialDepth = 470.889425; finalDepth = 468.161955; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:468.161955 # Seafloor depth:-508.161955 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 510.889425 meters looking forward 0.000000 meters along route # Maximum depth: 510.889425 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 470.889425 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.692395; longitude = -117.444669; captureRadius = 10; duration = 60; initialDepth = 472.451900; finalDepth = 470.889425; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:470.889425 # Seafloor depth:-510.889425 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 512.451900 meters looking forward 0.000000 meters along route # Maximum depth: 512.451900 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 472.451900 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.692801; longitude = -117.445101; captureRadius = 10; duration = 60; initialDepth = 474.481156; finalDepth = 472.451900; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:472.4519 # Seafloor depth:-512.451900 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 514.481156 meters looking forward 0.000000 meters along route # Maximum depth: 514.481156 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 474.481156 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.693236; longitude = -117.445563; captureRadius = 10; duration = 60; initialDepth = 475.940704; finalDepth = 474.481156; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:474.481156 # Seafloor depth:-514.481156 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 515.940704 meters looking forward 0.000000 meters along route # Maximum depth: 515.940704 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 475.940704 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.693613; longitude = -117.445963; captureRadius = 10; duration = 60; initialDepth = 478.279917; finalDepth = 475.940704; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:475.940704 # Seafloor depth:-515.940704 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 518.279917 meters looking forward 0.000000 meters along route # Maximum depth: 518.279917 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 478.279917 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.694019; longitude = -117.446395; captureRadius = 10; duration = 60; initialDepth = 481.430913; finalDepth = 478.279917; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:478.279917 # Seafloor depth:-518.279917 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 521.430913 meters looking forward 0.000000 meters along route # Maximum depth: 521.430913 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 481.430913 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.694441; longitude = -117.446844; captureRadius = 10; duration = 60; initialDepth = 484.476705; finalDepth = 481.430913; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:481.430913 # Seafloor depth:-521.430913 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 524.476705 meters looking forward 0.000000 meters along route # Maximum depth: 524.476705 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 484.476705 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.694893; longitude = -117.447324; captureRadius = 10; duration = 60; initialDepth = 485.729935; finalDepth = 484.476705; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:484.476705 # Seafloor depth:-524.476705 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 525.729935 meters looking forward 0.000000 meters along route # Maximum depth: 525.729935 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 485.729935 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.695237; longitude = -117.447689; captureRadius = 10; duration = 60; initialDepth = 488.250192; finalDepth = 485.729935; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:485.729935 # Seafloor depth:-525.729935 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 528.250192 meters looking forward 0.000000 meters along route # Maximum depth: 528.250192 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 488.250192 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.695646; longitude = -117.448124; captureRadius = 10; duration = 60; initialDepth = 489.966984; finalDepth = 488.250192; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:488.250192 # Seafloor depth:-528.250192 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 529.966984 meters looking forward 0.000000 meters along route # Maximum depth: 529.966984 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 489.966984 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.696098; longitude = -117.448604; captureRadius = 10; duration = 60; initialDepth = 491.873942; finalDepth = 489.966984; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:489.966984 # Seafloor depth:-529.966984 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 27 # Segment length 60.876159 meters # Minimum depth: 531.873942 meters looking forward 0.000000 meters along route # Maximum depth: 531.873942 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 491.873942 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.696500; longitude = -117.449031; captureRadius = 10; duration = 60; # abortOnTimeout = True; initialDepth = 492.323461; finalDepth = 491.873942; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:491.873942 # Seafloor depth:-531.873942 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 532.323461 meters looking forward 0.000000 meters along route # Maximum depth: 532.323461 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 492.323461 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.696742; longitude = -117.449244; captureRadius = 10; duration = 60; initialDepth = 496.141291; finalDepth = 492.323461; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:492.323461 # Seafloor depth:-532.323461 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 536.141291 meters looking forward 0.000000 meters along route # Maximum depth: 536.141291 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 496.141291 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.697105; longitude = -117.449565; captureRadius = 10; duration = 60; initialDepth = 495.923135; finalDepth = 496.141291; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:496.141291 # Seafloor depth:-536.141291 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 535.923135 meters looking forward 0.000000 meters along route # Maximum depth: 535.923135 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 495.923135 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.697469; longitude = -117.449885; captureRadius = 10; duration = 60; initialDepth = 497.539243; finalDepth = 495.923135; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:495.923135 # Seafloor depth:-535.923135 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 537.539243 meters looking forward 0.000000 meters along route # Maximum depth: 537.539243 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 497.539243 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.697832; longitude = -117.450205; captureRadius = 10; duration = 60; initialDepth = 500.283337; finalDepth = 497.539243; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:497.539243 # Seafloor depth:-537.539243 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 540.283337 meters looking forward 0.000000 meters along route # Maximum depth: 540.283337 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 500.283337 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.698195; longitude = -117.450525; captureRadius = 10; duration = 60; initialDepth = 503.866985; finalDepth = 500.283337; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:500.283337 # Seafloor depth:-540.283337 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 543.866985 meters looking forward 0.000000 meters along route # Maximum depth: 543.866985 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 503.866985 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.698559; longitude = -117.450845; captureRadius = 10; duration = 60; initialDepth = 504.051073; finalDepth = 503.866985; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:503.866985 # Seafloor depth:-543.866985 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 544.051073 meters looking forward 0.000000 meters along route # Maximum depth: 544.051073 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 504.051073 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.698922; longitude = -117.451165; captureRadius = 10; duration = 60; initialDepth = 504.753519; finalDepth = 504.051073; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:504.051073 # Seafloor depth:-544.051073 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 544.753519 meters looking forward 0.000000 meters along route # Maximum depth: 544.753519 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 504.753519 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.699285; longitude = -117.451485; captureRadius = 10; duration = 60; initialDepth = 509.401744; finalDepth = 504.753519; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:504.753519 # Seafloor depth:-544.753519 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 549.401744 meters looking forward 0.000000 meters along route # Maximum depth: 549.401744 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 509.401744 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.699648; longitude = -117.451805; captureRadius = 10; duration = 60; initialDepth = 506.807291; finalDepth = 509.401744; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:509.401744 # Seafloor depth:-549.401744 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 546.807291 meters looking forward 0.000000 meters along route # Maximum depth: 546.807291 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 506.807291 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.700012; longitude = -117.452125; captureRadius = 10; duration = 60; initialDepth = 508.549032; finalDepth = 506.807291; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:506.807291 # Seafloor depth:-546.807291 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 548.549032 meters looking forward 0.000000 meters along route # Maximum depth: 548.549032 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 508.549032 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.700375; longitude = -117.452446; captureRadius = 10; duration = 60; initialDepth = 509.720303; finalDepth = 508.549032; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:508.549032 # Seafloor depth:-548.549032 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 549.720303 meters looking forward 0.000000 meters along route # Maximum depth: 549.720303 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 509.720303 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.700738; longitude = -117.452766; captureRadius = 10; duration = 60; initialDepth = 511.018473; finalDepth = 509.720303; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:509.720303 # Seafloor depth:-549.720303 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 551.018473 meters looking forward 0.000000 meters along route # Maximum depth: 551.018473 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 511.018473 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.701102; longitude = -117.453086; captureRadius = 10; duration = 60; initialDepth = 513.272859; finalDepth = 511.018473; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:511.018473 # Seafloor depth:-551.018473 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 553.272859 meters looking forward 0.000000 meters along route # Maximum depth: 553.272859 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 513.272859 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.701465; longitude = -117.453406; captureRadius = 10; duration = 60; initialDepth = 515.583423; finalDepth = 513.272859; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:513.272859 # Seafloor depth:-553.272859 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 555.583423 meters looking forward 0.000000 meters along route # Maximum depth: 555.583423 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 515.583423 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.701828; longitude = -117.453726; captureRadius = 10; duration = 60; initialDepth = 517.404312; finalDepth = 515.583423; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:515.583423 # Seafloor depth:-555.583423 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 557.404312 meters looking forward 0.000000 meters along route # Maximum depth: 557.404312 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 517.404312 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.702191; longitude = -117.454046; captureRadius = 10; duration = 60; initialDepth = 519.550514; finalDepth = 517.404312; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:517.404312 # Seafloor depth:-557.404312 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 559.550514 meters looking forward 0.000000 meters along route # Maximum depth: 559.550514 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 519.550514 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.702555; longitude = -117.454366; captureRadius = 10; duration = 60; initialDepth = 521.736282; finalDepth = 519.550514; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:519.550514 # Seafloor depth:-559.550514 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 561.736282 meters looking forward 0.000000 meters along route # Maximum depth: 561.736282 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 521.736282 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.702951; longitude = -117.454716; captureRadius = 10; duration = 60; initialDepth = 526.841553; finalDepth = 521.736282; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:521.736282 # Seafloor depth:-561.736282 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 26 # Segment length 60.876159 meters # Minimum depth: 566.841553 meters looking forward 0.000000 meters along route # Maximum depth: 566.841553 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 526.841553 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.703402; longitude = -117.455113; captureRadius = 10; duration = 60; # abortOnTimeout = True; initialDepth = 525.540305; finalDepth = 526.841553; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:526.841553 # Seafloor depth:-566.841553 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 565.540305 meters looking forward 0.000000 meters along route # Maximum depth: 565.540305 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 525.540305 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.703387; longitude = -117.454846; captureRadius = 10; duration = 60; initialDepth = 524.090349; finalDepth = 525.540305; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:525.540305 # Seafloor depth:-565.540305 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 564.090349 meters looking forward 0.000000 meters along route # Maximum depth: 564.090349 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 524.090349 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.703357; longitude = -117.454309; captureRadius = 10; duration = 60; initialDepth = 524.102869; finalDepth = 524.090349; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:524.090349 # Seafloor depth:-564.090349 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 564.102869 meters looking forward 0.000000 meters along route # Maximum depth: 564.102869 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 524.102869 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.703325; longitude = -117.453726; captureRadius = 10; duration = 60; initialDepth = 525.873707; finalDepth = 524.102869; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:524.102869 # Seafloor depth:-564.102869 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 565.873707 meters looking forward 0.000000 meters along route # Maximum depth: 565.873707 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 525.873707 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.703289; longitude = -117.453086; captureRadius = 10; duration = 60; initialDepth = 522.498588; finalDepth = 525.873707; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:525.873707 # Seafloor depth:-565.873707 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 562.498588 meters looking forward 0.000000 meters along route # Maximum depth: 562.498588 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 522.498588 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.703253; longitude = -117.452446; captureRadius = 10; duration = 60; initialDepth = 521.562448; finalDepth = 522.498588; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:522.498588 # Seafloor depth:-562.498588 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 561.562448 meters looking forward 0.000000 meters along route # Maximum depth: 561.562448 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 521.562448 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.703222; longitude = -117.451897; captureRadius = 10; duration = 60; initialDepth = 523.542332; finalDepth = 521.562448; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:521.562448 # Seafloor depth:-561.562448 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 563.542332 meters looking forward 0.000000 meters along route # Maximum depth: 563.542332 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 523.542332 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.703190; longitude = -117.451325; captureRadius = 10; duration = 60; initialDepth = 525.577828; finalDepth = 523.542332; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:523.542332 # Seafloor depth:-563.542332 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 565.577828 meters looking forward 0.000000 meters along route # Maximum depth: 565.577828 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 525.577828 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.703154; longitude = -117.450685; captureRadius = 10; duration = 60; initialDepth = 528.711007; finalDepth = 525.577828; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:525.577828 # Seafloor depth:-565.577828 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 568.711007 meters looking forward 0.000000 meters along route # Maximum depth: 568.711007 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 528.711007 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.703118; longitude = -117.450045; captureRadius = 10; duration = 60; initialDepth = 532.247345; finalDepth = 528.711007; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:528.711007 # Seafloor depth:-568.711007 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 572.247345 meters looking forward 0.000000 meters along route # Maximum depth: 572.247345 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 532.247345 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.703087; longitude = -117.449485; captureRadius = 10; duration = 60; initialDepth = 530.227845; finalDepth = 532.247345; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:532.247345 # Seafloor depth:-572.247345 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 570.227845 meters looking forward 0.000000 meters along route # Maximum depth: 570.227845 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 530.227845 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.703055; longitude = -117.448924; captureRadius = 10; duration = 60; initialDepth = 523.934337; finalDepth = 530.227845; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:530.227845 # Seafloor depth:-570.227845 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 563.934337 meters looking forward 0.000000 meters along route # Maximum depth: 563.934337 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 523.934337 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.703019; longitude = -117.448284; captureRadius = 10; duration = 60; initialDepth = 517.303699; finalDepth = 523.934337; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:523.934337 # Seafloor depth:-563.934337 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 557.303699 meters looking forward 0.000000 meters along route # Maximum depth: 557.303699 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 517.303699 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.702983; longitude = -117.447644; captureRadius = 10; duration = 60; initialDepth = 512.579194; finalDepth = 517.303699; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:517.303699 # Seafloor depth:-557.303699 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 552.579194 meters looking forward 0.000000 meters along route # Maximum depth: 552.579194 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 512.579194 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.702947; longitude = -117.447004; captureRadius = 10; duration = 60; initialDepth = 513.093148; finalDepth = 512.579194; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:512.579194 # Seafloor depth:-552.579194 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 553.093148 meters looking forward 0.000000 meters along route # Maximum depth: 553.093148 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 513.093148 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.702911; longitude = -117.446363; captureRadius = 10; duration = 60; initialDepth = 513.170476; finalDepth = 513.093148; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:513.093148 # Seafloor depth:-553.093148 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 553.170476 meters looking forward 0.000000 meters along route # Maximum depth: 553.170476 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 513.170476 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.702876; longitude = -117.445723; captureRadius = 10; duration = 60; initialDepth = 511.946321; finalDepth = 513.170476; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:513.170476 # Seafloor depth:-553.170476 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 551.946321 meters looking forward 0.000000 meters along route # Maximum depth: 551.946321 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 511.946321 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.702840; longitude = -117.445083; captureRadius = 10; duration = 60; initialDepth = 508.956618; finalDepth = 511.946321; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:511.946321 # Seafloor depth:-551.946321 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 548.956618 meters looking forward 0.000000 meters along route # Maximum depth: 548.956618 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 508.956618 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.702804; longitude = -117.444443; captureRadius = 10; duration = 60; initialDepth = 503.279785; finalDepth = 508.956618; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:508.956618 # Seafloor depth:-548.956618 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 25 # Segment length 60.876159 meters # Minimum depth: 543.279785 meters looking forward 0.000000 meters along route # Maximum depth: 543.279785 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 503.279785 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.702771; longitude = -117.443856; captureRadius = 10; duration = 60; # abortOnTimeout = True; initialDepth = 500.433274; finalDepth = 503.279785; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:503.279785 # Seafloor depth:-543.279785 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 540.433274 meters looking forward 0.000000 meters along route # Maximum depth: 540.433274 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 500.433274 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.702800; longitude = -117.443322; captureRadius = 10; duration = 60; initialDepth = 498.512521; finalDepth = 500.433274; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:500.433274 # Seafloor depth:-540.433274 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 538.512521 meters looking forward 0.000000 meters along route # Maximum depth: 538.512521 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 498.512521 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.702834; longitude = -117.442682; captureRadius = 10; duration = 60; initialDepth = 497.208391; finalDepth = 498.512521; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:498.512521 # Seafloor depth:-538.512521 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 537.208391 meters looking forward 0.000000 meters along route # Maximum depth: 537.208391 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 497.208391 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.702869; longitude = -117.442042; captureRadius = 10; duration = 60; initialDepth = 495.623782; finalDepth = 497.208391; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:497.208391 # Seafloor depth:-537.208391 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 535.623782 meters looking forward 0.000000 meters along route # Maximum depth: 535.623782 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 495.623782 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.702903; longitude = -117.441402; captureRadius = 10; duration = 60; initialDepth = 494.837682; finalDepth = 495.623782; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:495.623782 # Seafloor depth:-535.623782 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 534.837682 meters looking forward 0.000000 meters along route # Maximum depth: 534.837682 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 494.837682 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.702938; longitude = -117.440761; captureRadius = 10; duration = 60; initialDepth = 493.188447; finalDepth = 494.837682; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:494.837682 # Seafloor depth:-534.837682 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 533.188447 meters looking forward 0.000000 meters along route # Maximum depth: 533.188447 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 493.188447 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.702972; longitude = -117.440121; captureRadius = 10; duration = 60; initialDepth = 491.349428; finalDepth = 493.188447; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:493.188447 # Seafloor depth:-533.188447 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 531.349428 meters looking forward 0.000000 meters along route # Maximum depth: 531.349428 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 491.349428 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.703007; longitude = -117.439481; captureRadius = 10; duration = 60; initialDepth = 490.709147; finalDepth = 491.349428; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:491.349428 # Seafloor depth:-531.349428 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 530.709147 meters looking forward 0.000000 meters along route # Maximum depth: 530.709147 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 490.709147 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.703041; longitude = -117.438841; captureRadius = 10; duration = 60; initialDepth = 489.666230; finalDepth = 490.709147; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:490.709147 # Seafloor depth:-530.709147 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 529.666230 meters looking forward 0.000000 meters along route # Maximum depth: 529.666230 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 489.666230 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.703076; longitude = -117.438201; captureRadius = 10; duration = 60; initialDepth = 489.819764; finalDepth = 489.666230; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:489.66623 # Seafloor depth:-529.666230 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 529.819764 meters looking forward 0.000000 meters along route # Maximum depth: 529.819764 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 489.819764 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.703111; longitude = -117.437560; captureRadius = 10; duration = 60; initialDepth = 490.215571; finalDepth = 489.819764; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:489.819764 # Seafloor depth:-529.819764 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 530.215571 meters looking forward 0.000000 meters along route # Maximum depth: 530.215571 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 490.215571 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.703145; longitude = -117.436920; captureRadius = 10; duration = 60; initialDepth = 491.699382; finalDepth = 490.215571; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:490.215571 # Seafloor depth:-530.215571 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 24 # Segment length 60.876159 meters # Minimum depth: 531.699382 meters looking forward 0.000000 meters along route # Maximum depth: 531.699382 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 491.699382 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.703177; longitude = -117.436333; captureRadius = 10; duration = 60; # abortOnTimeout = True; initialDepth = 494.611500; finalDepth = 491.699382; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:491.699382 # Seafloor depth:-531.699382 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 534.611500 meters looking forward 0.000000 meters along route # Maximum depth: 534.611500 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 494.611500 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.703628; longitude = -117.436382; captureRadius = 10; duration = 60; initialDepth = 498.263977; finalDepth = 494.611500; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:494.6115 # Seafloor depth:-534.611500 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 538.263977 meters looking forward 0.000000 meters along route # Maximum depth: 538.263977 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 498.263977 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.704169; longitude = -117.436440; captureRadius = 10; duration = 60; initialDepth = 500.468343; finalDepth = 498.263977; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:498.263977 # Seafloor depth:-538.263977 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 23 # Segment length 60.876159 meters # Minimum depth: 540.468343 meters looking forward 0.000000 meters along route # Maximum depth: 540.468343 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 500.468343 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.704666; longitude = -117.436493; captureRadius = 10; duration = 60; # abortOnTimeout = True; initialDepth = 502.989032; finalDepth = 500.468343; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:500.468343 # Seafloor depth:-540.468343 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 542.989032 meters looking forward 0.000000 meters along route # Maximum depth: 542.989032 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 502.989032 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.704647; longitude = -117.436760; captureRadius = 10; duration = 60; initialDepth = 501.192282; finalDepth = 502.989032; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:502.989032 # Seafloor depth:-542.989032 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 541.192282 meters looking forward 0.000000 meters along route # Maximum depth: 541.192282 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 501.192282 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.704603; longitude = -117.437400; captureRadius = 10; duration = 60; initialDepth = 501.873013; finalDepth = 501.192282; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:501.192282 # Seafloor depth:-541.192282 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 541.873013 meters looking forward 0.000000 meters along route # Maximum depth: 541.873013 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 501.873013 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.704559; longitude = -117.438041; captureRadius = 10; duration = 60; initialDepth = 503.192032; finalDepth = 501.873013; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:501.873013 # Seafloor depth:-541.873013 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 543.192032 meters looking forward 0.000000 meters along route # Maximum depth: 543.192032 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 503.192032 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.704515; longitude = -117.438681; captureRadius = 10; duration = 60; initialDepth = 504.798124; finalDepth = 503.192032; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:503.192032 # Seafloor depth:-543.192032 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 544.798124 meters looking forward 0.000000 meters along route # Maximum depth: 544.798124 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 504.798124 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.704470; longitude = -117.439321; captureRadius = 10; duration = 60; initialDepth = 505.850828; finalDepth = 504.798124; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:504.798124 # Seafloor depth:-544.798124 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 545.850828 meters looking forward 0.000000 meters along route # Maximum depth: 545.850828 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 505.850828 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.704426; longitude = -117.439961; captureRadius = 10; duration = 60; initialDepth = 507.982108; finalDepth = 505.850828; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:505.850828 # Seafloor depth:-545.850828 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 547.982108 meters looking forward 0.000000 meters along route # Maximum depth: 547.982108 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 507.982108 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.704382; longitude = -117.440601; captureRadius = 10; duration = 60; initialDepth = 508.943731; finalDepth = 507.982108; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:507.982108 # Seafloor depth:-547.982108 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 548.943731 meters looking forward 0.000000 meters along route # Maximum depth: 548.943731 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 508.943731 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.704338; longitude = -117.441242; captureRadius = 10; duration = 60; initialDepth = 510.158009; finalDepth = 508.943731; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:508.943731 # Seafloor depth:-548.943731 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 550.158009 meters looking forward 0.000000 meters along route # Maximum depth: 550.158009 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 510.158009 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.704294; longitude = -117.441882; captureRadius = 10; duration = 60; initialDepth = 512.607784; finalDepth = 510.158009; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:510.158009 # Seafloor depth:-550.158009 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 552.607784 meters looking forward 0.000000 meters along route # Maximum depth: 552.607784 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 512.607784 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.704249; longitude = -117.442522; captureRadius = 10; duration = 60; initialDepth = 515.330092; finalDepth = 512.607784; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:512.607784 # Seafloor depth:-552.607784 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 555.330092 meters looking forward 0.000000 meters along route # Maximum depth: 555.330092 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 515.330092 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.704205; longitude = -117.443162; captureRadius = 10; duration = 60; initialDepth = 520.652650; finalDepth = 515.330092; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:515.330092 # Seafloor depth:-555.330092 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 560.652650 meters looking forward 0.000000 meters along route # Maximum depth: 560.652650 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 520.652650 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.704161; longitude = -117.443803; captureRadius = 10; duration = 60; initialDepth = 522.206502; finalDepth = 520.652650; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:520.65265 # Seafloor depth:-560.652650 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 22 # Segment length 60.876159 meters # Minimum depth: 562.206502 meters looking forward 0.000000 meters along route # Maximum depth: 562.206502 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 522.206502 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.704124; longitude = -117.444336; captureRadius = 10; duration = 60; # abortOnTimeout = True; initialDepth = 528.228932; finalDepth = 522.206502; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:522.206502 # Seafloor depth:-562.206502 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 568.228932 meters looking forward 0.000000 meters along route # Maximum depth: 568.228932 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 528.228932 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.704169; longitude = -117.444846; captureRadius = 10; duration = 60; initialDepth = 532.602423; finalDepth = 528.228932; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:528.228932 # Seafloor depth:-568.228932 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 572.602423 meters looking forward 0.000000 meters along route # Maximum depth: 572.602423 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 532.602423 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.704219; longitude = -117.445403; captureRadius = 10; duration = 60; initialDepth = 534.950376; finalDepth = 532.602423; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:532.602423 # Seafloor depth:-572.602423 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 574.950376 meters looking forward 0.000000 meters along route # Maximum depth: 574.950376 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 534.950376 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.704275; longitude = -117.446043; captureRadius = 10; duration = 60; initialDepth = 538.593945; finalDepth = 534.950376; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:534.950376 # Seafloor depth:-574.950376 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 578.593945 meters looking forward 0.000000 meters along route # Maximum depth: 578.593945 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 538.593945 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.704332; longitude = -117.446684; captureRadius = 10; duration = 60; initialDepth = 537.404381; finalDepth = 538.593945; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:538.593945 # Seafloor depth:-578.593945 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 577.404381 meters looking forward 0.000000 meters along route # Maximum depth: 577.404381 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 537.404381 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.704388; longitude = -117.447324; captureRadius = 10; duration = 60; initialDepth = 538.059910; finalDepth = 537.404381; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:537.404381 # Seafloor depth:-577.404381 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 578.059910 meters looking forward 0.000000 meters along route # Maximum depth: 578.059910 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 538.059910 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.704440; longitude = -117.447908; captureRadius = 10; duration = 60; initialDepth = 542.401736; finalDepth = 538.059910; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:538.05991 # Seafloor depth:-578.059910 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 582.401736 meters looking forward 0.000000 meters along route # Maximum depth: 582.401736 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 542.401736 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.704487; longitude = -117.448444; captureRadius = 10; duration = 60; initialDepth = 547.778299; finalDepth = 542.401736; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:542.401736 # Seafloor depth:-582.401736 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 587.778299 meters looking forward 0.000000 meters along route # Maximum depth: 587.778299 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 547.778299 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.704544; longitude = -117.449084; captureRadius = 10; duration = 60; initialDepth = 548.176494; finalDepth = 547.778299; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:547.778299 # Seafloor depth:-587.778299 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 588.176494 meters looking forward 0.000000 meters along route # Maximum depth: 588.176494 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 548.176494 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.704601; longitude = -117.449725; captureRadius = 10; duration = 60; initialDepth = 549.103614; finalDepth = 548.176494; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:548.176494 # Seafloor depth:-588.176494 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 589.103614 meters looking forward 0.000000 meters along route # Maximum depth: 589.103614 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 549.103614 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.704657; longitude = -117.450365; captureRadius = 10; duration = 60; initialDepth = 550.362789; finalDepth = 549.103614; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:549.103614 # Seafloor depth:-589.103614 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 590.362789 meters looking forward 0.000000 meters along route # Maximum depth: 590.362789 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 550.362789 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.704714; longitude = -117.451005; captureRadius = 10; duration = 60; initialDepth = 548.885087; finalDepth = 550.362789; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:550.362789 # Seafloor depth:-590.362789 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 588.885087 meters looking forward 0.000000 meters along route # Maximum depth: 588.885087 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 548.885087 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.704770; longitude = -117.451645; captureRadius = 10; duration = 60; initialDepth = 545.766989; finalDepth = 548.885087; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:548.885087 # Seafloor depth:-588.885087 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 585.766989 meters looking forward 0.000000 meters along route # Maximum depth: 585.766989 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 545.766989 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.704827; longitude = -117.452286; captureRadius = 10; duration = 60; initialDepth = 544.432119; finalDepth = 545.766989; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:545.766989 # Seafloor depth:-585.766989 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 584.432119 meters looking forward 0.000000 meters along route # Maximum depth: 584.432119 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 544.432119 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.704884; longitude = -117.452926; captureRadius = 10; duration = 60; initialDepth = 546.163390; finalDepth = 544.432119; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:544.432119 # Seafloor depth:-584.432119 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 586.163390 meters looking forward 0.000000 meters along route # Maximum depth: 586.163390 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 546.163390 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.704940; longitude = -117.453566; captureRadius = 10; duration = 60; initialDepth = 546.333811; finalDepth = 546.163390; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:546.16339 # Seafloor depth:-586.163390 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 586.333811 meters looking forward 0.000000 meters along route # Maximum depth: 586.333811 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 546.333811 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.704997; longitude = -117.454206; captureRadius = 10; duration = 60; initialDepth = 542.365151; finalDepth = 546.333811; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:546.333811 # Seafloor depth:-586.333811 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 582.365151 meters looking forward 0.000000 meters along route # Maximum depth: 582.365151 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 542.365151 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.705053; longitude = -117.454846; captureRadius = 10; duration = 60; initialDepth = 548.699554; finalDepth = 542.365151; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:542.365151 # Seafloor depth:-582.365151 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 588.699554 meters looking forward 0.000000 meters along route # Maximum depth: 588.699554 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 548.699554 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.705110; longitude = -117.455487; captureRadius = 10; duration = 60; initialDepth = 544.047729; finalDepth = 548.699554; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:548.699554 # Seafloor depth:-588.699554 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 21 # Segment length 60.876159 meters # Minimum depth: 584.047729 meters looking forward 0.000000 meters along route # Maximum depth: 584.047729 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 544.047729 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.705162; longitude = -117.456074; captureRadius = 10; duration = 60; # abortOnTimeout = True; initialDepth = 542.015233; finalDepth = 544.047729; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:544.047729 # Seafloor depth:-584.047729 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 582.015233 meters looking forward 0.000000 meters along route # Maximum depth: 582.015233 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 542.015233 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.705310; longitude = -117.456287; captureRadius = 10; duration = 60; initialDepth = 547.157901; finalDepth = 542.015233; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:542.015233 # Seafloor depth:-582.015233 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 587.157901 meters looking forward 0.000000 meters along route # Maximum depth: 587.157901 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 547.157901 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.705658; longitude = -117.456788; captureRadius = 10; duration = 60; initialDepth = 547.373553; finalDepth = 547.157901; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:547.157901 # Seafloor depth:-587.157901 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 587.373553 meters looking forward 0.000000 meters along route # Maximum depth: 587.373553 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 547.373553 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.705977; longitude = -117.457247; captureRadius = 10; duration = 60; initialDepth = 550.885917; finalDepth = 547.373553; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:547.373553 # Seafloor depth:-587.373553 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 590.885917 meters looking forward 0.000000 meters along route # Maximum depth: 590.885917 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 550.885917 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.706335; longitude = -117.457762; captureRadius = 10; duration = 60; initialDepth = 551.498073; finalDepth = 550.885917; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:550.885917 # Seafloor depth:-590.885917 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 591.498073 meters looking forward 0.000000 meters along route # Maximum depth: 591.498073 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 551.498073 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.706644; longitude = -117.458208; captureRadius = 10; duration = 60; initialDepth = 554.226363; finalDepth = 551.498073; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:551.498073 # Seafloor depth:-591.498073 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 594.226363 meters looking forward 0.000000 meters along route # Maximum depth: 594.226363 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 554.226363 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.707011; longitude = -117.458736; captureRadius = 10; duration = 60; initialDepth = 554.057909; finalDepth = 554.226363; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:554.226363 # Seafloor depth:-594.226363 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 594.057909 meters looking forward 0.000000 meters along route # Maximum depth: 594.057909 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 554.057909 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.707311; longitude = -117.459168; captureRadius = 10; duration = 60; initialDepth = 556.302870; finalDepth = 554.057909; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:554.057909 # Seafloor depth:-594.057909 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 596.302870 meters looking forward 0.000000 meters along route # Maximum depth: 596.302870 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 556.302870 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.707688; longitude = -117.459711; captureRadius = 10; duration = 60; initialDepth = 559.304068; finalDepth = 556.302870; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:556.30287 # Seafloor depth:-596.302870 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 599.304068 meters looking forward 0.000000 meters along route # Maximum depth: 599.304068 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 559.304068 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.707978; longitude = -117.460128; captureRadius = 10; duration = 60; initialDepth = 557.795492; finalDepth = 559.304068; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:559.304068 # Seafloor depth:-599.304068 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 20 # Segment length 60.876159 meters # Minimum depth: 597.795492 meters looking forward 0.000000 meters along route # Maximum depth: 597.795492 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 557.795492 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.708275; longitude = -117.460555; captureRadius = 10; duration = 60; # abortOnTimeout = True; initialDepth = 556.693167; finalDepth = 557.795492; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:557.795492 # Seafloor depth:-597.795492 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 596.693167 meters looking forward 0.000000 meters along route # Maximum depth: 596.693167 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 556.693167 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.708365; longitude = -117.460643; captureRadius = 10; duration = 60; initialDepth = 562.262628; finalDepth = 556.693167; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:556.693167 # Seafloor depth:-596.693167 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 602.262628 meters looking forward 0.000000 meters along route # Maximum depth: 602.262628 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 562.262628 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.708824; longitude = -117.461089; captureRadius = 10; duration = 60; initialDepth = 563.858845; finalDepth = 562.262628; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:562.262628 # Seafloor depth:-602.262628 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 603.858845 meters looking forward 0.000000 meters along route # Maximum depth: 603.858845 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 563.858845 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.709177; longitude = -117.461431; captureRadius = 10; duration = 60; initialDepth = 565.795801; finalDepth = 563.858845; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:563.858845 # Seafloor depth:-603.858845 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 605.795801 meters looking forward 0.000000 meters along route # Maximum depth: 605.795801 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 565.795801 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.709583; longitude = -117.461825; captureRadius = 10; duration = 60; initialDepth = 566.160778; finalDepth = 565.795801; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:565.795801 # Seafloor depth:-605.795801 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 606.160778 meters looking forward 0.000000 meters along route # Maximum depth: 606.160778 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 566.160778 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.709989; longitude = -117.462219; captureRadius = 10; duration = 60; initialDepth = 571.056173; finalDepth = 566.160778; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:566.160778 # Seafloor depth:-606.160778 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 611.056173 meters looking forward 0.000000 meters along route # Maximum depth: 611.056173 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 571.056173 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.710395; longitude = -117.462613; captureRadius = 10; duration = 60; initialDepth = 568.069578; finalDepth = 571.056173; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:571.056173 # Seafloor depth:-611.056173 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 608.069578 meters looking forward 0.000000 meters along route # Maximum depth: 608.069578 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 568.069578 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.710803; longitude = -117.463009; captureRadius = 10; duration = 60; initialDepth = 570.336222; finalDepth = 568.069578; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:568.069578 # Seafloor depth:-608.069578 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 610.336222 meters looking forward 0.000000 meters along route # Maximum depth: 610.336222 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 570.336222 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.711207; longitude = -117.463401; captureRadius = 10; duration = 60; initialDepth = 569.348896; finalDepth = 570.336222; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:570.336222 # Seafloor depth:-610.336222 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 609.348896 meters looking forward 0.000000 meters along route # Maximum depth: 609.348896 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 569.348896 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.711628; longitude = -117.463810; captureRadius = 10; duration = 60; initialDepth = 570.605504; finalDepth = 569.348896; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:569.348896 # Seafloor depth:-609.348896 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 610.605504 meters looking forward 0.000000 meters along route # Maximum depth: 610.605504 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 570.605504 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.712019; longitude = -117.464189; captureRadius = 10; duration = 60; initialDepth = 571.770888; finalDepth = 570.605504; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:570.605504 # Seafloor depth:-610.605504 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 611.770888 meters looking forward 0.000000 meters along route # Maximum depth: 611.770888 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 571.770888 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.712452; longitude = -117.464610; captureRadius = 10; duration = 60; initialDepth = 570.628045; finalDepth = 571.770888; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:571.770888 # Seafloor depth:-611.770888 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 610.628045 meters looking forward 0.000000 meters along route # Maximum depth: 610.628045 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 570.628045 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.712831; longitude = -117.464977; captureRadius = 10; duration = 60; initialDepth = 571.692943; finalDepth = 570.628045; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:570.628045 # Seafloor depth:-610.628045 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 611.692943 meters looking forward 0.000000 meters along route # Maximum depth: 611.692943 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 571.692943 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.713277; longitude = -117.465410; captureRadius = 10; duration = 60; initialDepth = 573.084253; finalDepth = 571.692943; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:571.692943 # Seafloor depth:-611.692943 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 613.084253 meters looking forward 0.000000 meters along route # Maximum depth: 613.084253 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 573.084253 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.713643; longitude = -117.465766; captureRadius = 10; duration = 60; initialDepth = 572.652282; finalDepth = 573.084253; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:573.084253 # Seafloor depth:-613.084253 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 612.652282 meters looking forward 0.000000 meters along route # Maximum depth: 612.652282 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 572.652282 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.714102; longitude = -117.466210; captureRadius = 10; duration = 60; initialDepth = 571.368272; finalDepth = 572.652282; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:572.652282 # Seafloor depth:-612.652282 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 611.368272 meters looking forward 0.000000 meters along route # Maximum depth: 611.368272 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 571.368272 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.714455; longitude = -117.466554; captureRadius = 10; duration = 60; initialDepth = 571.807699; finalDepth = 571.368272; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:571.368272 # Seafloor depth:-611.368272 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 19 # Segment length 60.876159 meters # Minimum depth: 611.807699 meters looking forward 0.000000 meters along route # Maximum depth: 611.807699 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 571.807699 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.714816; longitude = -117.466904; captureRadius = 10; duration = 60; # abortOnTimeout = True; initialDepth = 571.626050; finalDepth = 571.807699; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:571.807699 # Seafloor depth:-611.807699 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 611.626050 meters looking forward 0.000000 meters along route # Maximum depth: 611.626050 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 571.626050 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.714861; longitude = -117.466934; captureRadius = 10; duration = 60; initialDepth = 574.121380; finalDepth = 571.626050; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:571.62605 # Seafloor depth:-611.626050 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 614.121380 meters looking forward 0.000000 meters along route # Maximum depth: 614.121380 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 574.121380 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.715267; longitude = -117.467208; captureRadius = 10; duration = 60; initialDepth = 576.610123; finalDepth = 574.121380; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:574.12138 # Seafloor depth:-614.121380 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 616.610123 meters looking forward 0.000000 meters along route # Maximum depth: 616.610123 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 576.610123 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.715686; longitude = -117.467491; captureRadius = 10; duration = 60; initialDepth = 580.159161; finalDepth = 576.610123; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:576.610123 # Seafloor depth:-616.610123 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 620.159161 meters looking forward 0.000000 meters along route # Maximum depth: 620.159161 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 580.159161 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.716079; longitude = -117.467756; captureRadius = 10; duration = 60; initialDepth = 581.669222; finalDepth = 580.159161; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:580.159161 # Seafloor depth:-620.159161 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 621.669222 meters looking forward 0.000000 meters along route # Maximum depth: 621.669222 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 581.669222 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.716485; longitude = -117.468030; captureRadius = 10; duration = 60; initialDepth = 584.240446; finalDepth = 581.669222; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:581.669222 # Seafloor depth:-621.669222 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 624.240446 meters looking forward 0.000000 meters along route # Maximum depth: 624.240446 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 584.240446 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.716891; longitude = -117.468304; captureRadius = 10; duration = 60; initialDepth = 586.208168; finalDepth = 584.240446; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:584.240446 # Seafloor depth:-624.240446 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 626.208168 meters looking forward 0.000000 meters along route # Maximum depth: 626.208168 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 586.208168 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.717297; longitude = -117.468577; captureRadius = 10; duration = 60; initialDepth = 589.824066; finalDepth = 586.208168; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:586.208168 # Seafloor depth:-626.208168 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 629.824066 meters looking forward 0.000000 meters along route # Maximum depth: 629.824066 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 589.824066 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.717703; longitude = -117.468851; captureRadius = 10; duration = 60; initialDepth = 592.806114; finalDepth = 589.824066; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:589.824066 # Seafloor depth:-629.824066 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 632.806114 meters looking forward 0.000000 meters along route # Maximum depth: 632.806114 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 592.806114 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.718109; longitude = -117.469125; captureRadius = 10; duration = 60; initialDepth = 594.369329; finalDepth = 592.806114; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:592.806114 # Seafloor depth:-632.806114 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 634.369329 meters looking forward 0.000000 meters along route # Maximum depth: 634.369329 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 594.369329 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.718516; longitude = -117.469399; captureRadius = 10; duration = 60; initialDepth = 596.758303; finalDepth = 594.369329; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:594.369329 # Seafloor depth:-634.369329 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 636.758303 meters looking forward 0.000000 meters along route # Maximum depth: 636.758303 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 596.758303 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.718922; longitude = -117.469673; captureRadius = 10; duration = 60; initialDepth = 599.145281; finalDepth = 596.758303; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:596.758303 # Seafloor depth:-636.758303 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 639.145281 meters looking forward 0.000000 meters along route # Maximum depth: 639.145281 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 599.145281 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.719328; longitude = -117.469947; captureRadius = 10; duration = 60; initialDepth = 600.892274; finalDepth = 599.145281; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:599.145281 # Seafloor depth:-639.145281 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 640.892274 meters looking forward 0.000000 meters along route # Maximum depth: 640.892274 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 600.892274 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.719734; longitude = -117.470221; captureRadius = 10; duration = 60; initialDepth = 602.791853; finalDepth = 600.892274; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:600.892274 # Seafloor depth:-640.892274 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 642.791853 meters looking forward 0.000000 meters along route # Maximum depth: 642.791853 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 602.791853 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.720195; longitude = -117.470532; captureRadius = 10; duration = 60; initialDepth = 605.070312; finalDepth = 602.791853; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:602.791853 # Seafloor depth:-642.791853 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 18 # Segment length 60.876159 meters # Minimum depth: 645.070312 meters looking forward 0.000000 meters along route # Maximum depth: 645.070312 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 605.070312 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.720591; longitude = -117.470799; captureRadius = 10; duration = 60; # abortOnTimeout = True; initialDepth = 606.322115; finalDepth = 605.070312; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:605.070312 # Seafloor depth:-645.070312 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 646.322115 meters looking forward 0.000000 meters along route # Maximum depth: 646.322115 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 606.322115 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.720704; longitude = -117.470852; captureRadius = 10; duration = 60; initialDepth = 610.515625; finalDepth = 606.322115; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:606.322115 # Seafloor depth:-646.322115 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 650.515625 meters looking forward 0.000000 meters along route # Maximum depth: 650.515625 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 610.515625 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.721222; longitude = -117.471097; captureRadius = 10; duration = 60; initialDepth = 615.679169; finalDepth = 610.515625; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:610.515625 # Seafloor depth:-650.515625 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 655.679169 meters looking forward 0.000000 meters along route # Maximum depth: 655.679169 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 615.679169 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.721764; longitude = -117.471352; captureRadius = 10; duration = 60; initialDepth = 619.871715; finalDepth = 615.679169; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:615.679169 # Seafloor depth:-655.679169 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 659.871715 meters looking forward 0.000000 meters along route # Maximum depth: 659.871715 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 619.871715 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.722305; longitude = -117.471608; captureRadius = 10; duration = 60; initialDepth = 624.522156; finalDepth = 619.871715; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:619.871715 # Seafloor depth:-659.871715 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 664.522156 meters looking forward 0.000000 meters along route # Maximum depth: 664.522156 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 624.522156 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.722738; longitude = -117.471812; captureRadius = 10; duration = 60; initialDepth = 629.161849; finalDepth = 624.522156; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:624.522156 # Seafloor depth:-664.522156 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 669.161849 meters looking forward 0.000000 meters along route # Maximum depth: 669.161849 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 629.161849 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.723252; longitude = -117.472055; captureRadius = 10; duration = 60; initialDepth = 636.302769; finalDepth = 629.161849; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:629.161849 # Seafloor depth:-669.161849 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 676.302769 meters looking forward 0.000000 meters along route # Maximum depth: 676.302769 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 636.302769 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.723794; longitude = -117.472311; captureRadius = 10; duration = 60; initialDepth = 646.409746; finalDepth = 636.302769; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:636.302769 # Seafloor depth:-676.302769 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 686.409746 meters looking forward 0.000000 meters along route # Maximum depth: 686.409746 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 646.409746 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.724335; longitude = -117.472566; captureRadius = 10; duration = 60; initialDepth = 654.172719; finalDepth = 646.409746; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:646.409746 # Seafloor depth:-686.409746 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 694.172719 meters looking forward 0.000000 meters along route # Maximum depth: 694.172719 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 654.172719 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.724773; longitude = -117.472773; captureRadius = 10; duration = 60; initialDepth = 657.354252; finalDepth = 654.172719; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:654.172719 # Seafloor depth:-694.172719 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 697.354252 meters looking forward 0.000000 meters along route # Maximum depth: 697.354252 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 657.354252 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.725283; longitude = -117.473013; captureRadius = 10; duration = 60; initialDepth = 660.754507; finalDepth = 657.354252; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:657.354252 # Seafloor depth:-697.354252 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 700.754507 meters looking forward 0.000000 meters along route # Maximum depth: 700.754507 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 660.754507 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.725824; longitude = -117.473269; captureRadius = 10; duration = 60; initialDepth = 659.974729; finalDepth = 660.754507; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:660.754507 # Seafloor depth:-700.754507 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 699.974729 meters looking forward 0.000000 meters along route # Maximum depth: 699.974729 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 659.974729 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.726365; longitude = -117.473525; captureRadius = 10; duration = 60; initialDepth = 663.539673; finalDepth = 659.974729; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:659.974729 # Seafloor depth:-699.974729 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 703.539673 meters looking forward 0.000000 meters along route # Maximum depth: 703.539673 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 663.539673 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.726807; longitude = -117.473733; captureRadius = 10; duration = 60; initialDepth = 668.562554; finalDepth = 663.539673; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:663.539673 # Seafloor depth:-703.539673 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 708.562554 meters looking forward 0.000000 meters along route # Maximum depth: 708.562554 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 668.562554 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.727313; longitude = -117.473972; captureRadius = 10; duration = 60; initialDepth = 674.899062; finalDepth = 668.562554; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:668.562554 # Seafloor depth:-708.562554 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 714.899062 meters looking forward 0.000000 meters along route # Maximum depth: 714.899062 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 674.899062 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.727854; longitude = -117.474227; captureRadius = 10; duration = 60; initialDepth = 679.515881; finalDepth = 674.899062; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:674.899062 # Seafloor depth:-714.899062 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 719.515881 meters looking forward 0.000000 meters along route # Maximum depth: 719.515881 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 679.515881 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.728395; longitude = -117.474483; captureRadius = 10; duration = 60; initialDepth = 685.700524; finalDepth = 679.515881; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:679.515881 # Seafloor depth:-719.515881 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 725.700524 meters looking forward 0.000000 meters along route # Maximum depth: 725.700524 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 685.700524 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.728841; longitude = -117.474693; captureRadius = 10; duration = 60; initialDepth = 694.523896; finalDepth = 685.700524; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:685.700524 # Seafloor depth:-725.700524 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 734.523896 meters looking forward 0.000000 meters along route # Maximum depth: 734.523896 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 694.523896 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.729343; longitude = -117.474930; captureRadius = 10; duration = 60; initialDepth = 697.718058; finalDepth = 694.523896; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:694.523896 # Seafloor depth:-734.523896 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 737.718058 meters looking forward 0.000000 meters along route # Maximum depth: 737.718058 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 697.718058 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.729884; longitude = -117.475186; captureRadius = 10; duration = 60; initialDepth = 702.176858; finalDepth = 697.718058; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:697.718058 # Seafloor depth:-737.718058 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 742.176858 meters looking forward 0.000000 meters along route # Maximum depth: 742.176858 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 702.176858 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.730426; longitude = -117.475441; captureRadius = 10; duration = 60; initialDepth = 705.688567; finalDepth = 702.176858; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:702.176858 # Seafloor depth:-742.176858 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 745.688567 meters looking forward 0.000000 meters along route # Maximum depth: 745.688567 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 705.688567 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.730876; longitude = -117.475654; captureRadius = 10; duration = 60; initialDepth = 709.060465; finalDepth = 705.688567; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:705.688567 # Seafloor depth:-745.688567 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 17 # Segment length 60.876159 meters # Minimum depth: 749.060465 meters looking forward 0.000000 meters along route # Maximum depth: 749.060465 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 709.060465 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.731328; longitude = -117.475867; captureRadius = 10; duration = 60; # abortOnTimeout = True; initialDepth = 708.719738; finalDepth = 709.060465; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:709.060465 # Seafloor depth:-749.060465 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 748.719738 meters looking forward 0.000000 meters along route # Maximum depth: 748.719738 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 708.719738 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.731651; longitude = -117.476134; captureRadius = 10; duration = 60; initialDepth = 707.598846; finalDepth = 708.719738; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:708.719738 # Seafloor depth:-748.719738 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 747.598846 meters looking forward 0.000000 meters along route # Maximum depth: 747.598846 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 707.598846 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.732050; longitude = -117.476463; captureRadius = 10; duration = 60; initialDepth = 707.563716; finalDepth = 707.598846; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:707.598846 # Seafloor depth:-747.598846 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 747.563716 meters looking forward 0.000000 meters along route # Maximum depth: 747.563716 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 707.563716 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.732456; longitude = -117.476798; captureRadius = 10; duration = 60; initialDepth = 704.199601; finalDepth = 707.563716; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:707.563716 # Seafloor depth:-747.563716 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 744.199601 meters looking forward 0.000000 meters along route # Maximum depth: 744.199601 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 704.199601 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.732862; longitude = -117.477133; captureRadius = 10; duration = 60; initialDepth = 701.819805; finalDepth = 704.199601; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:704.199601 # Seafloor depth:-744.199601 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 741.819805 meters looking forward 0.000000 meters along route # Maximum depth: 741.819805 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 701.819805 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.733268; longitude = -117.477469; captureRadius = 10; duration = 60; initialDepth = 698.847738; finalDepth = 701.819805; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:701.819805 # Seafloor depth:-741.819805 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 16 # Segment length 60.876159 meters # Minimum depth: 738.847738 meters looking forward 0.000000 meters along route # Maximum depth: 738.847738 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 698.847738 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.733719; longitude = -117.477841; captureRadius = 10; duration = 60; # abortOnTimeout = True; initialDepth = 696.022084; finalDepth = 698.847738; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:698.847738 # Seafloor depth:-738.847738 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 736.022084 meters looking forward 0.000000 meters along route # Maximum depth: 736.022084 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 696.022084 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.734157; longitude = -117.478055; captureRadius = 10; duration = 60; initialDepth = 694.532975; finalDepth = 696.022084; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:696.022084 # Seafloor depth:-736.022084 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 734.532975 meters looking forward 0.000000 meters along route # Maximum depth: 734.532975 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 694.532975 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.734621; longitude = -117.478281; captureRadius = 10; duration = 60; initialDepth = 688.637990; finalDepth = 694.532975; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:694.532975 # Seafloor depth:-734.532975 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 728.637990 meters looking forward 0.000000 meters along route # Maximum depth: 728.637990 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 688.637990 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.735163; longitude = -117.478545; captureRadius = 10; duration = 60; initialDepth = 686.608054; finalDepth = 688.637990; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:688.63799 # Seafloor depth:-728.637990 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 726.608054 meters looking forward 0.000000 meters along route # Maximum depth: 726.608054 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 686.608054 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.735704; longitude = -117.478809; captureRadius = 10; duration = 60; initialDepth = 685.462753; finalDepth = 686.608054; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:686.608054 # Seafloor depth:-726.608054 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 725.462753 meters looking forward 0.000000 meters along route # Maximum depth: 725.462753 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 685.462753 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.736126; longitude = -117.479015; captureRadius = 10; duration = 60; initialDepth = 687.980371; finalDepth = 685.462753; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:685.462753 # Seafloor depth:-725.462753 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 727.980371 meters looking forward 0.000000 meters along route # Maximum depth: 727.980371 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 687.980371 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.736651; longitude = -117.479271; captureRadius = 10; duration = 60; initialDepth = 691.602330; finalDepth = 687.980371; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:687.980371 # Seafloor depth:-727.980371 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 731.602330 meters looking forward 0.000000 meters along route # Maximum depth: 731.602330 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 691.602330 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.737111; longitude = -117.479495; captureRadius = 10; duration = 60; initialDepth = 695.974428; finalDepth = 691.602330; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:691.60233 # Seafloor depth:-731.602330 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 735.974428 meters looking forward 0.000000 meters along route # Maximum depth: 735.974428 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 695.974428 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.737599; longitude = -117.479733; captureRadius = 10; duration = 60; initialDepth = 699.528173; finalDepth = 695.974428; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:695.974428 # Seafloor depth:-735.974428 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 739.528173 meters looking forward 0.000000 meters along route # Maximum depth: 739.528173 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 699.528173 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.738096; longitude = -117.479975; captureRadius = 10; duration = 60; initialDepth = 701.244200; finalDepth = 699.528173; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:699.528173 # Seafloor depth:-739.528173 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 741.244200 meters looking forward 0.000000 meters along route # Maximum depth: 741.244200 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 701.244200 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.738546; longitude = -117.480195; captureRadius = 10; duration = 60; initialDepth = 705.174562; finalDepth = 701.244200; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:701.2442 # Seafloor depth:-741.244200 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 745.174562 meters looking forward 0.000000 meters along route # Maximum depth: 745.174562 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 705.174562 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.739087; longitude = -117.480459; captureRadius = 10; duration = 60; initialDepth = 706.294082; finalDepth = 705.174562; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:705.174562 # Seafloor depth:-745.174562 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 746.294082 meters looking forward 0.000000 meters along route # Maximum depth: 746.294082 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 706.294082 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.739629; longitude = -117.480723; captureRadius = 10; duration = 60; initialDepth = 709.375536; finalDepth = 706.294082; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:706.294082 # Seafloor depth:-746.294082 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 749.375536 meters looking forward 0.000000 meters along route # Maximum depth: 749.375536 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 709.375536 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.740065; longitude = -117.480936; captureRadius = 10; duration = 60; initialDepth = 711.446124; finalDepth = 709.375536; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:709.375536 # Seafloor depth:-749.375536 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 751.446124 meters looking forward 0.000000 meters along route # Maximum depth: 751.446124 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 711.446124 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.740576; longitude = -117.481185; captureRadius = 10; duration = 60; initialDepth = 711.909485; finalDepth = 711.446124; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:711.446124 # Seafloor depth:-751.446124 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 751.909485 meters looking forward 0.000000 meters along route # Maximum depth: 751.909485 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 711.909485 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.741050; longitude = -117.481416; captureRadius = 10; duration = 60; initialDepth = 712.621105; finalDepth = 711.909485; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:711.909485 # Seafloor depth:-751.909485 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 752.621105 meters looking forward 0.000000 meters along route # Maximum depth: 752.621105 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 712.621105 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.741524; longitude = -117.481647; captureRadius = 10; duration = 60; initialDepth = 712.627932; finalDepth = 712.621105; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:712.621105 # Seafloor depth:-752.621105 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 752.627932 meters looking forward 0.000000 meters along route # Maximum depth: 752.627932 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 712.627932 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.742035; longitude = -117.481896; captureRadius = 10; duration = 60; initialDepth = 709.027695; finalDepth = 712.627932; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:712.627932 # Seafloor depth:-752.627932 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 749.027695 meters looking forward 0.000000 meters along route # Maximum depth: 749.027695 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 709.027695 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.742471; longitude = -117.482109; captureRadius = 10; duration = 60; initialDepth = 706.829582; finalDepth = 709.027695; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:709.027695 # Seafloor depth:-749.027695 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 746.829582 meters looking forward 0.000000 meters along route # Maximum depth: 746.829582 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 706.829582 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.743019; longitude = -117.482376; captureRadius = 10; duration = 60; initialDepth = 706.132702; finalDepth = 706.829582; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:706.829582 # Seafloor depth:-746.829582 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 746.132702 meters looking forward 0.000000 meters along route # Maximum depth: 746.132702 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 706.132702 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.743554; longitude = -117.482637; captureRadius = 10; duration = 60; initialDepth = 705.959403; finalDepth = 706.132702; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:706.132702 # Seafloor depth:-746.132702 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 745.959403 meters looking forward 0.000000 meters along route # Maximum depth: 745.959403 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 705.959403 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.744004; longitude = -117.482856; captureRadius = 10; duration = 60; initialDepth = 710.156835; finalDepth = 705.959403; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:705.959403 # Seafloor depth:-745.959403 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 750.156835 meters looking forward 0.000000 meters along route # Maximum depth: 750.156835 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 710.156835 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.744501; longitude = -117.483099; captureRadius = 10; duration = 60; initialDepth = 715.542523; finalDepth = 710.156835; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:710.156835 # Seafloor depth:-750.156835 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 755.542523 meters looking forward 0.000000 meters along route # Maximum depth: 755.542523 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 715.542523 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.744989; longitude = -117.483336; captureRadius = 10; duration = 60; initialDepth = 719.033008; finalDepth = 715.542523; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:715.542523 # Seafloor depth:-755.542523 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 759.033008 meters looking forward 0.000000 meters along route # Maximum depth: 759.033008 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 719.033008 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.745448; longitude = -117.483560; captureRadius = 10; duration = 60; initialDepth = 724.668719; finalDepth = 719.033008; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:719.033008 # Seafloor depth:-759.033008 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 764.668719 meters looking forward 0.000000 meters along route # Maximum depth: 764.668719 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 724.668719 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.745990; longitude = -117.483824; captureRadius = 10; duration = 60; initialDepth = 728.981600; finalDepth = 724.668719; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:724.668719 # Seafloor depth:-764.668719 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 768.981600 meters looking forward 0.000000 meters along route # Maximum depth: 768.981600 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 728.981600 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.746531; longitude = -117.484088; captureRadius = 10; duration = 60; initialDepth = 730.505630; finalDepth = 728.981600; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:728.9816 # Seafloor depth:-768.981600 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 770.505630 meters looking forward 0.000000 meters along route # Maximum depth: 770.505630 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 730.505630 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.746958; longitude = -117.484297; captureRadius = 10; duration = 60; initialDepth = 735.716552; finalDepth = 730.505630; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:730.50563 # Seafloor depth:-770.505630 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 775.716552 meters looking forward 0.000000 meters along route # Maximum depth: 775.716552 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 735.716552 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.747479; longitude = -117.484550; captureRadius = 10; duration = 60; initialDepth = 741.693587; finalDepth = 735.716552; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:735.716552 # Seafloor depth:-775.716552 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 781.693587 meters looking forward 0.000000 meters along route # Maximum depth: 781.693587 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 741.693587 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.747943; longitude = -117.484777; captureRadius = 10; duration = 60; initialDepth = 745.322917; finalDepth = 741.693587; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:741.693587 # Seafloor depth:-781.693587 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 15 # Segment length 60.876159 meters # Minimum depth: 785.322917 meters looking forward 0.000000 meters along route # Maximum depth: 785.322917 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 745.322917 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.748381; longitude = -117.484990; captureRadius = 10; duration = 60; # abortOnTimeout = True; initialDepth = 746.333354; finalDepth = 745.322917; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:745.322917 # Seafloor depth:-785.322917 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 786.333354 meters looking forward 0.000000 meters along route # Maximum depth: 786.333354 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 746.333354 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.748426; longitude = -117.484964; captureRadius = 10; duration = 60; initialDepth = 752.888021; finalDepth = 746.333354; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:746.333354 # Seafloor depth:-786.333354 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 792.888021 meters looking forward 0.000000 meters along route # Maximum depth: 792.888021 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 752.888021 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.748832; longitude = -117.484724; captureRadius = 10; duration = 60; initialDepth = 758.993266; finalDepth = 752.888021; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:752.888021 # Seafloor depth:-792.888021 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 798.993266 meters looking forward 0.000000 meters along route # Maximum depth: 798.993266 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 758.993266 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.749283; longitude = -117.484457; captureRadius = 10; duration = 60; initialDepth = 763.835612; finalDepth = 758.993266; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:758.993266 # Seafloor depth:-798.993266 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 14 # Segment length 60.876159 meters # Minimum depth: 803.835612 meters looking forward 0.000000 meters along route # Maximum depth: 803.835612 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 763.835612 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.749734; longitude = -117.484190; captureRadius = 10; duration = 60; # abortOnTimeout = True; initialDepth = 765.212680; finalDepth = 763.835612; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:763.835612 # Seafloor depth:-803.835612 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 805.212680 meters looking forward 0.000000 meters along route # Maximum depth: 805.212680 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 765.212680 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.749915; longitude = -117.484261; captureRadius = 10; duration = 60; initialDepth = 776.406250; finalDepth = 765.212680; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:765.21268 # Seafloor depth:-805.212680 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 816.406250 meters looking forward 0.000000 meters along route # Maximum depth: 816.406250 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 776.406250 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.750411; longitude = -117.484457; captureRadius = 10; duration = 60; initialDepth = 778.580580; finalDepth = 776.406250; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:776.40625 # Seafloor depth:-816.406250 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 818.580580 meters looking forward 0.000000 meters along route # Maximum depth: 818.580580 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 778.580580 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.750862; longitude = -117.484635; captureRadius = 10; duration = 60; initialDepth = 781.681675; finalDepth = 778.580580; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:778.58058 # Seafloor depth:-818.580580 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 821.681675 meters looking forward 0.000000 meters along route # Maximum depth: 821.681675 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 781.681675 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.751403; longitude = -117.484848; captureRadius = 10; duration = 60; initialDepth = 784.420627; finalDepth = 781.681675; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:781.681675 # Seafloor depth:-821.681675 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 824.420627 meters looking forward 0.000000 meters along route # Maximum depth: 824.420627 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 784.420627 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.751945; longitude = -117.485061; captureRadius = 10; duration = 60; initialDepth = 789.360799; finalDepth = 784.420627; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:784.420627 # Seafloor depth:-824.420627 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 829.360799 meters looking forward 0.000000 meters along route # Maximum depth: 829.360799 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 789.360799 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.752441; longitude = -117.485257; captureRadius = 10; duration = 60; initialDepth = 796.959317; finalDepth = 789.360799; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:789.360799 # Seafloor depth:-829.360799 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 836.959317 meters looking forward 0.000000 meters along route # Maximum depth: 836.959317 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 796.959317 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.752892; longitude = -117.485435; captureRadius = 10; duration = 60; initialDepth = 800.561808; finalDepth = 796.959317; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:796.959317 # Seafloor depth:-836.959317 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 840.561808 meters looking forward 0.000000 meters along route # Maximum depth: 840.561808 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.561808 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.753434; longitude = -117.485648; captureRadius = 10; duration = 60; initialDepth = 801.633443; finalDepth = 800.561808; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:800.561808 # Seafloor depth:-840.561808 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 841.633443 meters looking forward 0.000000 meters along route # Maximum depth: 841.633443 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 801.633443 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.753975; longitude = -117.485862; captureRadius = 10; duration = 60; initialDepth = 799.922974; finalDepth = 801.633443; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:801.633443 # Seafloor depth:-841.633443 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 839.922974 meters looking forward 0.000000 meters along route # Maximum depth: 839.922974 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 799.922974 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.754471; longitude = -117.486057; captureRadius = 10; duration = 60; initialDepth = 796.242716; finalDepth = 799.922974; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:799.922974 # Seafloor depth:-839.922974 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 836.242716 meters looking forward 0.000000 meters along route # Maximum depth: 836.242716 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 796.242716 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.754922; longitude = -117.486235; captureRadius = 10; duration = 60; initialDepth = 795.430881; finalDepth = 796.242716; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:796.242716 # Seafloor depth:-836.242716 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 835.430881 meters looking forward 0.000000 meters along route # Maximum depth: 835.430881 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 795.430881 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.755464; longitude = -117.486449; captureRadius = 10; duration = 60; initialDepth = 794.383464; finalDepth = 795.430881; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:795.430881 # Seafloor depth:-835.430881 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 834.383464 meters looking forward 0.000000 meters along route # Maximum depth: 834.383464 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 794.383464 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.756005; longitude = -117.486662; captureRadius = 10; duration = 60; initialDepth = 789.140666; finalDepth = 794.383464; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:794.383464 # Seafloor depth:-834.383464 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 829.140666 meters looking forward 0.000000 meters along route # Maximum depth: 829.140666 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 789.140666 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.756501; longitude = -117.486858; captureRadius = 10; duration = 60; initialDepth = 788.154582; finalDepth = 789.140666; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:789.140666 # Seafloor depth:-829.140666 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 828.154582 meters looking forward 0.000000 meters along route # Maximum depth: 828.154582 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 788.154582 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.756952; longitude = -117.487035; captureRadius = 10; duration = 60; initialDepth = 784.144552; finalDepth = 788.154582; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:788.154582 # Seafloor depth:-828.154582 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 824.144552 meters looking forward 0.000000 meters along route # Maximum depth: 824.144552 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 784.144552 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.757494; longitude = -117.487249; captureRadius = 10; duration = 60; initialDepth = 782.956136; finalDepth = 784.144552; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:784.144552 # Seafloor depth:-824.144552 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 822.956136 meters looking forward 0.000000 meters along route # Maximum depth: 822.956136 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 782.956136 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.758035; longitude = -117.487462; captureRadius = 10; duration = 60; initialDepth = 782.460999; finalDepth = 782.956136; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:782.956136 # Seafloor depth:-822.956136 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 822.460999 meters looking forward 0.000000 meters along route # Maximum depth: 822.460999 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 782.460999 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.758531; longitude = -117.487658; captureRadius = 10; duration = 60; initialDepth = 780.258226; finalDepth = 782.460999; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:782.460999 # Seafloor depth:-822.460999 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 820.258226 meters looking forward 0.000000 meters along route # Maximum depth: 820.258226 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 780.258226 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.758983; longitude = -117.487836; captureRadius = 10; duration = 60; initialDepth = 778.641507; finalDepth = 780.258226; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:780.258226 # Seafloor depth:-820.258226 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 818.641507 meters looking forward 0.000000 meters along route # Maximum depth: 818.641507 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 778.641507 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.759524; longitude = -117.488049; captureRadius = 10; duration = 60; initialDepth = 778.285834; finalDepth = 778.641507; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:778.641507 # Seafloor depth:-818.641507 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 818.285834 meters looking forward 0.000000 meters along route # Maximum depth: 818.285834 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 778.285834 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.760065; longitude = -117.488263; captureRadius = 10; duration = 60; initialDepth = 781.719747; finalDepth = 778.285834; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:778.285834 # Seafloor depth:-818.285834 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 821.719747 meters looking forward 0.000000 meters along route # Maximum depth: 821.719747 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 781.719747 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.760562; longitude = -117.488458; captureRadius = 10; duration = 60; initialDepth = 785.665493; finalDepth = 781.719747; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:781.719747 # Seafloor depth:-821.719747 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 825.665493 meters looking forward 0.000000 meters along route # Maximum depth: 825.665493 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 785.665493 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.761013; longitude = -117.488636; captureRadius = 10; duration = 60; initialDepth = 788.913723; finalDepth = 785.665493; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:785.665493 # Seafloor depth:-825.665493 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 828.913723 meters looking forward 0.000000 meters along route # Maximum depth: 828.913723 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 788.913723 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.761554; longitude = -117.488849; captureRadius = 10; duration = 60; initialDepth = 794.342034; finalDepth = 788.913723; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:788.913723 # Seafloor depth:-828.913723 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 834.342034 meters looking forward 0.000000 meters along route # Maximum depth: 834.342034 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 794.342034 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.762095; longitude = -117.489063; captureRadius = 10; duration = 60; initialDepth = 797.989766; finalDepth = 794.342034; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:794.342034 # Seafloor depth:-834.342034 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 837.989766 meters looking forward 0.000000 meters along route # Maximum depth: 837.989766 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 797.989766 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.762592; longitude = -117.489258; captureRadius = 10; duration = 60; initialDepth = 798.730713; finalDepth = 797.989766; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:797.989766 # Seafloor depth:-837.989766 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 838.730713 meters looking forward 0.000000 meters along route # Maximum depth: 838.730713 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 798.730713 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.763043; longitude = -117.489436; captureRadius = 10; duration = 60; initialDepth = 803.243429; finalDepth = 798.730713; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:798.730713 # Seafloor depth:-838.730713 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 843.243429 meters looking forward 0.000000 meters along route # Maximum depth: 843.243429 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 803.243429 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.763584; longitude = -117.489650; captureRadius = 10; duration = 60; initialDepth = 806.638943; finalDepth = 803.243429; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:803.243429 # Seafloor depth:-843.243429 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 846.638943 meters looking forward 0.000000 meters along route # Maximum depth: 846.638943 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 806.638943 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.764126; longitude = -117.489863; captureRadius = 10; duration = 60; initialDepth = 806.708577; finalDepth = 806.638943; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:806.638943 # Seafloor depth:-846.638943 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 846.708577 meters looking forward 0.000000 meters along route # Maximum depth: 846.708577 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 806.708577 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.764622; longitude = -117.490059; captureRadius = 10; duration = 60; initialDepth = 806.710063; finalDepth = 806.708577; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:806.708577 # Seafloor depth:-846.708577 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 846.710063 meters looking forward 0.000000 meters along route # Maximum depth: 846.710063 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 806.710063 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.765073; longitude = -117.490237; captureRadius = 10; duration = 60; initialDepth = 804.668742; finalDepth = 806.710063; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:806.710063 # Seafloor depth:-846.710063 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 844.668742 meters looking forward 0.000000 meters along route # Maximum depth: 844.668742 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 804.668742 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.765614; longitude = -117.490450; captureRadius = 10; duration = 60; initialDepth = 800.890042; finalDepth = 804.668742; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:804.668742 # Seafloor depth:-844.668742 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 840.890042 meters looking forward 0.000000 meters along route # Maximum depth: 840.890042 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.890042 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.766156; longitude = -117.490663; captureRadius = 10; duration = 60; initialDepth = 795.582947; finalDepth = 800.890042; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:800.890042 # Seafloor depth:-840.890042 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 835.582947 meters looking forward 0.000000 meters along route # Maximum depth: 835.582947 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 795.582947 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.766652; longitude = -117.490859; captureRadius = 10; duration = 60; initialDepth = 795.056017; finalDepth = 795.582947; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:795.582947 # Seafloor depth:-835.582947 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 835.056017 meters looking forward 0.000000 meters along route # Maximum depth: 835.056017 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 795.056017 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.767103; longitude = -117.491037; captureRadius = 10; duration = 60; initialDepth = 801.022868; finalDepth = 795.056017; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:795.056017 # Seafloor depth:-835.056017 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 13 # Segment length 60.876159 meters # Minimum depth: 841.022868 meters looking forward 0.000000 meters along route # Maximum depth: 841.022868 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 801.022868 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.767599; longitude = -117.491233; captureRadius = 10; duration = 60; # abortOnTimeout = True; initialDepth = 801.275329; finalDepth = 801.022868; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:801.022868 # Seafloor depth:-841.022868 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 841.275329 meters looking forward 0.000000 meters along route # Maximum depth: 841.275329 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 801.275329 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.767669; longitude = -117.491179; captureRadius = 10; duration = 60; initialDepth = 808.279817; finalDepth = 801.275329; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:801.275329 # Seafloor depth:-841.275329 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 848.279817 meters looking forward 0.000000 meters along route # Maximum depth: 848.279817 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 808.279817 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.768050; longitude = -117.490884; captureRadius = 10; duration = 60; initialDepth = 811.279416; finalDepth = 808.279817; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:808.279817 # Seafloor depth:-848.279817 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 851.279416 meters looking forward 0.000000 meters along route # Maximum depth: 851.279416 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 811.279416 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.768457; longitude = -117.490571; captureRadius = 10; duration = 60; initialDepth = 813.920754; finalDepth = 811.279416; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:811.279416 # Seafloor depth:-851.279416 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 853.920754 meters looking forward 0.000000 meters along route # Maximum depth: 853.920754 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 813.920754 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.768863; longitude = -117.490258; captureRadius = 10; duration = 60; initialDepth = 815.560894; finalDepth = 813.920754; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:813.920754 # Seafloor depth:-853.920754 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 855.560894 meters looking forward 0.000000 meters along route # Maximum depth: 855.560894 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 815.560894 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.769269; longitude = -117.489945; captureRadius = 10; duration = 60; initialDepth = 816.132388; finalDepth = 815.560894; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:815.560894 # Seafloor depth:-855.560894 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 856.132388 meters looking forward 0.000000 meters along route # Maximum depth: 856.132388 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 816.132388 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.769675; longitude = -117.489631; captureRadius = 10; duration = 60; initialDepth = 817.797522; finalDepth = 816.132388; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:816.132388 # Seafloor depth:-856.132388 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 857.797522 meters looking forward 0.000000 meters along route # Maximum depth: 857.797522 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 817.797522 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.770081; longitude = -117.489318; captureRadius = 10; duration = 60; initialDepth = 816.631695; finalDepth = 817.797522; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:817.797522 # Seafloor depth:-857.797522 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 856.631695 meters looking forward 0.000000 meters along route # Maximum depth: 856.631695 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 816.631695 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.770487; longitude = -117.489005; captureRadius = 10; duration = 60; initialDepth = 815.541132; finalDepth = 816.631695; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:816.631695 # Seafloor depth:-856.631695 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 855.541132 meters looking forward 0.000000 meters along route # Maximum depth: 855.541132 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 815.541132 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.770893; longitude = -117.488691; captureRadius = 10; duration = 60; initialDepth = 813.479095; finalDepth = 815.541132; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:815.541132 # Seafloor depth:-855.541132 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 853.479095 meters looking forward 0.000000 meters along route # Maximum depth: 853.479095 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 813.479095 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.771299; longitude = -117.488378; captureRadius = 10; duration = 60; initialDepth = 809.407022; finalDepth = 813.479095; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:813.479095 # Seafloor depth:-853.479095 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 849.407022 meters looking forward 0.000000 meters along route # Maximum depth: 849.407022 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 809.407022 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.771705; longitude = -117.488065; captureRadius = 10; duration = 60; initialDepth = 805.238680; finalDepth = 809.407022; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:809.407022 # Seafloor depth:-849.407022 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 845.238680 meters looking forward 0.000000 meters along route # Maximum depth: 845.238680 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 805.238680 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.772111; longitude = -117.487752; captureRadius = 10; duration = 60; initialDepth = 799.833371; finalDepth = 805.238680; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:805.23868 # Seafloor depth:-845.238680 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 839.833371 meters looking forward 0.000000 meters along route # Maximum depth: 839.833371 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 799.833371 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.772517; longitude = -117.487438; captureRadius = 10; duration = 60; initialDepth = 794.842927; finalDepth = 799.833371; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:799.833371 # Seafloor depth:-839.833371 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 834.842927 meters looking forward 0.000000 meters along route # Maximum depth: 834.842927 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 794.842927 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.772923; longitude = -117.487125; captureRadius = 10; duration = 60; initialDepth = 789.540677; finalDepth = 794.842927; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:794.842927 # Seafloor depth:-834.842927 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 829.540677 meters looking forward 0.000000 meters along route # Maximum depth: 829.540677 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 789.540677 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.773329; longitude = -117.486812; captureRadius = 10; duration = 60; initialDepth = 786.432494; finalDepth = 789.540677; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:789.540677 # Seafloor depth:-829.540677 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 826.432494 meters looking forward 0.000000 meters along route # Maximum depth: 826.432494 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 786.432494 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.773735; longitude = -117.486498; captureRadius = 10; duration = 60; initialDepth = 786.247191; finalDepth = 786.432494; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:786.432494 # Seafloor depth:-826.432494 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 826.247191 meters looking forward 0.000000 meters along route # Maximum depth: 826.247191 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 786.247191 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.774141; longitude = -117.486185; captureRadius = 10; duration = 60; initialDepth = 789.517645; finalDepth = 786.247191; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:786.247191 # Seafloor depth:-826.247191 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 829.517645 meters looking forward 0.000000 meters along route # Maximum depth: 829.517645 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 789.517645 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.774547; longitude = -117.485872; captureRadius = 10; duration = 60; initialDepth = 793.823161; finalDepth = 789.517645; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:789.517645 # Seafloor depth:-829.517645 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 12 # Segment length 60.876159 meters # Minimum depth: 833.823161 meters looking forward 0.000000 meters along route # Maximum depth: 833.823161 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 793.823161 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.774998; longitude = -117.485524; captureRadius = 10; duration = 60; # abortOnTimeout = True; initialDepth = 793.425608; finalDepth = 793.823161; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:793.823161 # Seafloor depth:-833.823161 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 833.425608 meters looking forward 0.000000 meters along route # Maximum depth: 833.425608 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 793.425608 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.775039; longitude = -117.485897; captureRadius = 10; duration = 60; initialDepth = 794.059069; finalDepth = 793.425608; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:793.425608 # Seafloor depth:-833.425608 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 834.059069 meters looking forward 0.000000 meters along route # Maximum depth: 834.059069 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 794.059069 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.775108; longitude = -117.486538; captureRadius = 10; duration = 60; initialDepth = 796.890006; finalDepth = 794.059069; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:794.059069 # Seafloor depth:-834.059069 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 836.890006 meters looking forward 0.000000 meters along route # Maximum depth: 836.890006 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 796.890006 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.775178; longitude = -117.487178; captureRadius = 10; duration = 60; initialDepth = 805.394574; finalDepth = 796.890006; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:796.890006 # Seafloor depth:-836.890006 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 845.394574 meters looking forward 0.000000 meters along route # Maximum depth: 845.394574 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 805.394574 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.775248; longitude = -117.487818; captureRadius = 10; duration = 60; initialDepth = 820.898702; finalDepth = 805.394574; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:805.394574 # Seafloor depth:-845.394574 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 860.898702 meters looking forward 0.000000 meters along route # Maximum depth: 860.898702 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 820.898702 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.775317; longitude = -117.488458; captureRadius = 10; duration = 60; initialDepth = 840.317055; finalDepth = 820.898702; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:820.898702 # Seafloor depth:-860.898702 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 880.317055 meters looking forward 0.000000 meters along route # Maximum depth: 880.317055 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 840.317055 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.775387; longitude = -117.489098; captureRadius = 10; duration = 60; initialDepth = 855.252887; finalDepth = 840.317055; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:840.317055 # Seafloor depth:-880.317055 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 895.252887 meters looking forward 0.000000 meters along route # Maximum depth: 895.252887 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 855.252887 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.775457; longitude = -117.489739; captureRadius = 10; duration = 60; initialDepth = 860.081927; finalDepth = 855.252887; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:855.252887 # Seafloor depth:-895.252887 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 900.081927 meters looking forward 0.000000 meters along route # Maximum depth: 900.081927 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 860.081927 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.775526; longitude = -117.490379; captureRadius = 10; duration = 60; initialDepth = 859.569499; finalDepth = 860.081927; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:860.081927 # Seafloor depth:-900.081927 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 11 # Segment length 60.876159 meters # Minimum depth: 899.569499 meters looking forward 0.000000 meters along route # Maximum depth: 899.569499 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 859.569499 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.775585; longitude = -117.490912; captureRadius = 10; duration = 60; # abortOnTimeout = True; initialDepth = 859.352295; finalDepth = 859.569499; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:859.569499 # Seafloor depth:-899.569499 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 899.352295 meters looking forward 0.000000 meters along route # Maximum depth: 899.352295 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 859.352295 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.775284; longitude = -117.491339; captureRadius = 10; duration = 60; initialDepth = 860.248328; finalDepth = 859.352295; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:859.352295 # Seafloor depth:-899.352295 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 900.248328 meters looking forward 0.000000 meters along route # Maximum depth: 900.248328 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 860.248328 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.774945; longitude = -117.491819; captureRadius = 10; duration = 60; initialDepth = 859.566739; finalDepth = 860.248328; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:860.248328 # Seafloor depth:-900.248328 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 899.566739 meters looking forward 0.000000 meters along route # Maximum depth: 899.566739 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 859.566739 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.774607; longitude = -117.492300; captureRadius = 10; duration = 60; initialDepth = 859.164466; finalDepth = 859.566739; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:859.566739 # Seafloor depth:-899.566739 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 899.164466 meters looking forward 0.000000 meters along route # Maximum depth: 899.164466 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 859.164466 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.774269; longitude = -117.492780; captureRadius = 10; duration = 60; initialDepth = 860.038194; finalDepth = 859.164466; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:859.164466 # Seafloor depth:-899.164466 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 900.038194 meters looking forward 0.000000 meters along route # Maximum depth: 900.038194 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 860.038194 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.773930; longitude = -117.493260; captureRadius = 10; duration = 60; initialDepth = 859.555396; finalDepth = 860.038194; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:860.038194 # Seafloor depth:-900.038194 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 899.555396 meters looking forward 0.000000 meters along route # Maximum depth: 899.555396 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 859.555396 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.773592; longitude = -117.493740; captureRadius = 10; duration = 60; initialDepth = 860.435657; finalDepth = 859.555396; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:859.555396 # Seafloor depth:-899.555396 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 900.435657 meters looking forward 0.000000 meters along route # Maximum depth: 900.435657 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 860.435657 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.773193; longitude = -117.494306; captureRadius = 10; duration = 60; initialDepth = 854.854899; finalDepth = 860.435657; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:860.435657 # Seafloor depth:-900.435657 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 10 # Segment length 60.876159 meters # Minimum depth: 894.854899 meters looking forward 0.000000 meters along route # Maximum depth: 894.854899 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 854.854899 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.772878; longitude = -117.494754; captureRadius = 10; duration = 60; # abortOnTimeout = True; initialDepth = 855.415134; finalDepth = 854.854899; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:854.854899 # Seafloor depth:-894.854899 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 895.415134 meters looking forward 0.000000 meters along route # Maximum depth: 895.415134 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 855.415134 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.772787; longitude = -117.494649; captureRadius = 10; duration = 60; initialDepth = 853.407958; finalDepth = 855.415134; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:855.415134 # Seafloor depth:-895.415134 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 893.407958 meters looking forward 0.000000 meters along route # Maximum depth: 893.407958 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 853.407958 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.772381; longitude = -117.494180; captureRadius = 10; duration = 60; initialDepth = 850.295010; finalDepth = 853.407958; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:853.407958 # Seafloor depth:-893.407958 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 890.295010 meters looking forward 0.000000 meters along route # Maximum depth: 890.295010 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 850.295010 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.771975; longitude = -117.493710; captureRadius = 10; duration = 60; initialDepth = 846.331942; finalDepth = 850.295010; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:850.29501 # Seafloor depth:-890.295010 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 886.331942 meters looking forward 0.000000 meters along route # Maximum depth: 886.331942 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 846.331942 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.771569; longitude = -117.493241; captureRadius = 10; duration = 60; initialDepth = 841.872215; finalDepth = 846.331942; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:846.331942 # Seafloor depth:-886.331942 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 881.872215 meters looking forward 0.000000 meters along route # Maximum depth: 881.872215 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 841.872215 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.771163; longitude = -117.492771; captureRadius = 10; duration = 60; initialDepth = 834.936202; finalDepth = 841.872215; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:841.872215 # Seafloor depth:-881.872215 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 874.936202 meters looking forward 0.000000 meters along route # Maximum depth: 874.936202 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 834.936202 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.770756; longitude = -117.492300; captureRadius = 10; duration = 60; initialDepth = 827.888295; finalDepth = 834.936202; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:834.936202 # Seafloor depth:-874.936202 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 867.888295 meters looking forward 0.000000 meters along route # Maximum depth: 867.888295 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 827.888295 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.770341; longitude = -117.491819; captureRadius = 10; duration = 60; initialDepth = 822.641538; finalDepth = 827.888295; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:827.888295 # Seafloor depth:-867.888295 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 862.641538 meters looking forward 0.000000 meters along route # Maximum depth: 862.641538 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 822.641538 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.769926; longitude = -117.491339; captureRadius = 10; duration = 60; initialDepth = 817.419330; finalDepth = 822.641538; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:822.641538 # Seafloor depth:-862.641538 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 857.419330 meters looking forward 0.000000 meters along route # Maximum depth: 857.419330 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 817.419330 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.769510; longitude = -117.490859; captureRadius = 10; duration = 60; initialDepth = 815.773191; finalDepth = 817.419330; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:817.41933 # Seafloor depth:-857.419330 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 855.773191 meters looking forward 0.000000 meters along route # Maximum depth: 855.773191 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 815.773191 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.769095; longitude = -117.490379; captureRadius = 10; duration = 60; initialDepth = 812.813314; finalDepth = 815.773191; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:815.773191 # Seafloor depth:-855.773191 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 9 # Segment length 60.876159 meters # Minimum depth: 852.813314 meters looking forward 0.000000 meters along route # Maximum depth: 852.813314 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 812.813314 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.768772; longitude = -117.490005; captureRadius = 10; duration = 60; # abortOnTimeout = True; initialDepth = 811.152357; finalDepth = 812.813314; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:812.813314 # Seafloor depth:-852.813314 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 851.152357 meters looking forward 0.000000 meters along route # Maximum depth: 851.152357 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 811.152357 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.768822; longitude = -117.489579; captureRadius = 10; duration = 60; initialDepth = 809.790141; finalDepth = 811.152357; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:811.152357 # Seafloor depth:-851.152357 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 849.790141 meters looking forward 0.000000 meters along route # Maximum depth: 849.790141 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 809.790141 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.768895; longitude = -117.488938; captureRadius = 10; duration = 60; initialDepth = 806.347580; finalDepth = 809.790141; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:809.790141 # Seafloor depth:-849.790141 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 846.347580 meters looking forward 0.000000 meters along route # Maximum depth: 846.347580 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 806.347580 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.768969; longitude = -117.488298; captureRadius = 10; duration = 60; initialDepth = 801.285746; finalDepth = 806.347580; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:806.34758 # Seafloor depth:-846.347580 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 841.285746 meters looking forward 0.000000 meters along route # Maximum depth: 841.285746 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 801.285746 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.769043; longitude = -117.487658; captureRadius = 10; duration = 60; initialDepth = 796.738501; finalDepth = 801.285746; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:801.285746 # Seafloor depth:-841.285746 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 836.738501 meters looking forward 0.000000 meters along route # Maximum depth: 836.738501 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 796.738501 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.769117; longitude = -117.487018; captureRadius = 10; duration = 60; initialDepth = 792.071940; finalDepth = 796.738501; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:796.738501 # Seafloor depth:-836.738501 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 8 # Segment length 60.876159 meters # Minimum depth: 832.071940 meters looking forward 0.000000 meters along route # Maximum depth: 832.071940 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 792.071940 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.769178; longitude = -117.486484; captureRadius = 10; duration = 60; # abortOnTimeout = True; initialDepth = 792.118993; finalDepth = 792.071940; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:792.07194 # Seafloor depth:-832.071940 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 832.118993 meters looking forward 0.000000 meters along route # Maximum depth: 832.118993 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 792.118993 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.769133; longitude = -117.486471; captureRadius = 10; duration = 60; initialDepth = 789.228790; finalDepth = 792.118993; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:792.118993 # Seafloor depth:-832.118993 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 829.228790 meters looking forward 0.000000 meters along route # Maximum depth: 829.228790 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 789.228790 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.768592; longitude = -117.486311; captureRadius = 10; duration = 60; initialDepth = 789.950511; finalDepth = 789.228790; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:789.22879 # Seafloor depth:-829.228790 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 829.950511 meters looking forward 0.000000 meters along route # Maximum depth: 829.950511 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 789.950511 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.768050; longitude = -117.486151; captureRadius = 10; duration = 60; initialDepth = 793.865229; finalDepth = 789.950511; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:789.950511 # Seafloor depth:-829.950511 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 833.865229 meters looking forward 0.000000 meters along route # Maximum depth: 833.865229 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 793.865229 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.767509; longitude = -117.485991; captureRadius = 10; duration = 60; initialDepth = 798.420207; finalDepth = 793.865229; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:793.865229 # Seafloor depth:-833.865229 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 838.420207 meters looking forward 0.000000 meters along route # Maximum depth: 838.420207 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 798.420207 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.766968; longitude = -117.485831; captureRadius = 10; duration = 60; initialDepth = 802.689184; finalDepth = 798.420207; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:798.420207 # Seafloor depth:-838.420207 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 842.689184 meters looking forward 0.000000 meters along route # Maximum depth: 842.689184 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 802.689184 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.766426; longitude = -117.485671; captureRadius = 10; duration = 60; initialDepth = 804.877803; finalDepth = 802.689184; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:802.689184 # Seafloor depth:-842.689184 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 844.877803 meters looking forward 0.000000 meters along route # Maximum depth: 844.877803 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 804.877803 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.765885; longitude = -117.485511; captureRadius = 10; duration = 60; initialDepth = 806.490626; finalDepth = 804.877803; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:804.877803 # Seafloor depth:-844.877803 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 846.490626 meters looking forward 0.000000 meters along route # Maximum depth: 846.490626 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 806.490626 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.765344; longitude = -117.485350; captureRadius = 10; duration = 60; initialDepth = 805.412888; finalDepth = 806.490626; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:806.490626 # Seafloor depth:-846.490626 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 845.412888 meters looking forward 0.000000 meters along route # Maximum depth: 845.412888 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 805.412888 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.764802; longitude = -117.485190; captureRadius = 10; duration = 60; initialDepth = 805.811137; finalDepth = 805.412888; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:805.412888 # Seafloor depth:-845.412888 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 845.811137 meters looking forward 0.000000 meters along route # Maximum depth: 845.811137 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 805.811137 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.764261; longitude = -117.485030; captureRadius = 10; duration = 60; initialDepth = 805.760676; finalDepth = 805.811137; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:805.811137 # Seafloor depth:-845.811137 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 845.760676 meters looking forward 0.000000 meters along route # Maximum depth: 845.760676 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 805.760676 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.763720; longitude = -117.484870; captureRadius = 10; duration = 60; initialDepth = 806.305776; finalDepth = 805.760676; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:805.760676 # Seafloor depth:-845.760676 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 846.305776 meters looking forward 0.000000 meters along route # Maximum depth: 846.305776 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 806.305776 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.763178; longitude = -117.484710; captureRadius = 10; duration = 60; initialDepth = 808.530502; finalDepth = 806.305776; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:806.305776 # Seafloor depth:-846.305776 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 848.530502 meters looking forward 0.000000 meters along route # Maximum depth: 848.530502 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 808.530502 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.762637; longitude = -117.484550; captureRadius = 10; duration = 60; initialDepth = 814.694000; finalDepth = 808.530502; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:808.530502 # Seafloor depth:-848.530502 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 854.694000 meters looking forward 0.000000 meters along route # Maximum depth: 854.694000 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 814.694000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.762095; longitude = -117.484390; captureRadius = 10; duration = 60; initialDepth = 802.046392; finalDepth = 814.694000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:814.694 # Seafloor depth:-854.694000 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 842.046392 meters looking forward 0.000000 meters along route # Maximum depth: 842.046392 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 802.046392 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.761554; longitude = -117.484230; captureRadius = 10; duration = 60; initialDepth = 803.488012; finalDepth = 802.046392; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:802.046392 # Seafloor depth:-842.046392 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 843.488012 meters looking forward 0.000000 meters along route # Maximum depth: 843.488012 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 803.488012 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.761013; longitude = -117.484070; captureRadius = 10; duration = 60; initialDepth = 790.560842; finalDepth = 803.488012; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:803.488012 # Seafloor depth:-843.488012 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 830.560842 meters looking forward 0.000000 meters along route # Maximum depth: 830.560842 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 790.560842 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.760471; longitude = -117.483910; captureRadius = 10; duration = 60; initialDepth = 787.884109; finalDepth = 790.560842; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:790.560842 # Seafloor depth:-830.560842 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 827.884109 meters looking forward 0.000000 meters along route # Maximum depth: 827.884109 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 787.884109 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.759930; longitude = -117.483750; captureRadius = 10; duration = 60; initialDepth = 791.672719; finalDepth = 787.884109; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:787.884109 # Seafloor depth:-827.884109 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 831.672719 meters looking forward 0.000000 meters along route # Maximum depth: 831.672719 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 791.672719 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.759389; longitude = -117.483590; captureRadius = 10; duration = 60; initialDepth = 794.904775; finalDepth = 791.672719; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:791.672719 # Seafloor depth:-831.672719 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 834.904775 meters looking forward 0.000000 meters along route # Maximum depth: 834.904775 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 794.904775 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.758847; longitude = -117.483430; captureRadius = 10; duration = 60; initialDepth = 786.340073; finalDepth = 794.904775; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:794.904775 # Seafloor depth:-834.904775 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 826.340073 meters looking forward 0.000000 meters along route # Maximum depth: 826.340073 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 786.340073 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.758306; longitude = -117.483270; captureRadius = 10; duration = 60; initialDepth = 785.527756; finalDepth = 786.340073; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:786.340073 # Seafloor depth:-826.340073 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 825.527756 meters looking forward 0.000000 meters along route # Maximum depth: 825.527756 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 785.527756 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.757765; longitude = -117.483110; captureRadius = 10; duration = 60; initialDepth = 786.507451; finalDepth = 785.527756; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:785.527756 # Seafloor depth:-825.527756 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 826.507451 meters looking forward 0.000000 meters along route # Maximum depth: 826.507451 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 786.507451 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.757223; longitude = -117.482950; captureRadius = 10; duration = 60; initialDepth = 786.979711; finalDepth = 786.507451; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:786.507451 # Seafloor depth:-826.507451 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 826.979711 meters looking forward 0.000000 meters along route # Maximum depth: 826.979711 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 786.979711 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.756682; longitude = -117.482790; captureRadius = 10; duration = 60; initialDepth = 792.726384; finalDepth = 786.979711; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:786.979711 # Seafloor depth:-826.979711 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 832.726384 meters looking forward 0.000000 meters along route # Maximum depth: 832.726384 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 792.726384 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.756140; longitude = -117.482629; captureRadius = 10; duration = 60; initialDepth = 795.577723; finalDepth = 792.726384; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:792.726384 # Seafloor depth:-832.726384 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 835.577723 meters looking forward 0.000000 meters along route # Maximum depth: 835.577723 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 795.577723 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.755599; longitude = -117.482469; captureRadius = 10; duration = 60; initialDepth = 794.866302; finalDepth = 795.577723; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:795.577723 # Seafloor depth:-835.577723 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 834.866302 meters looking forward 0.000000 meters along route # Maximum depth: 834.866302 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 794.866302 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.755058; longitude = -117.482309; captureRadius = 10; duration = 60; initialDepth = 797.334544; finalDepth = 794.866302; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:794.866302 # Seafloor depth:-834.866302 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 837.334544 meters looking forward 0.000000 meters along route # Maximum depth: 837.334544 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 797.334544 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.754516; longitude = -117.482149; captureRadius = 10; duration = 60; initialDepth = 801.755244; finalDepth = 797.334544; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:797.334544 # Seafloor depth:-837.334544 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 841.755244 meters looking forward 0.000000 meters along route # Maximum depth: 841.755244 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 801.755244 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.753975; longitude = -117.481989; captureRadius = 10; duration = 60; initialDepth = 805.037333; finalDepth = 801.755244; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:801.755244 # Seafloor depth:-841.755244 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 845.037333 meters looking forward 0.000000 meters along route # Maximum depth: 845.037333 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 805.037333 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.753434; longitude = -117.481829; captureRadius = 10; duration = 60; initialDepth = 808.083506; finalDepth = 805.037333; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:805.037333 # Seafloor depth:-845.037333 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 848.083506 meters looking forward 0.000000 meters along route # Maximum depth: 848.083506 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 808.083506 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.752892; longitude = -117.481669; captureRadius = 10; duration = 60; initialDepth = 809.929250; finalDepth = 808.083506; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:808.083506 # Seafloor depth:-848.083506 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 849.929250 meters looking forward 0.000000 meters along route # Maximum depth: 849.929250 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 809.929250 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.752351; longitude = -117.481509; captureRadius = 10; duration = 60; initialDepth = 806.682688; finalDepth = 809.929250; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:809.92925 # Seafloor depth:-849.929250 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 846.682688 meters looking forward 0.000000 meters along route # Maximum depth: 846.682688 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 806.682688 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.751810; longitude = -117.481349; captureRadius = 10; duration = 60; initialDepth = 810.073034; finalDepth = 806.682688; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:806.682688 # Seafloor depth:-846.682688 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 850.073034 meters looking forward 0.000000 meters along route # Maximum depth: 850.073034 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 810.073034 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.751268; longitude = -117.481189; captureRadius = 10; duration = 60; initialDepth = 810.379069; finalDepth = 810.073034; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:810.073034 # Seafloor depth:-850.073034 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 7 # Segment length 60.876159 meters # Minimum depth: 850.379069 meters looking forward 0.000000 meters along route # Maximum depth: 850.379069 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 810.379069 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.750772; longitude = -117.481042; captureRadius = 10; duration = 60; # abortOnTimeout = True; initialDepth = 809.857732; finalDepth = 810.379069; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:810.379069 # Seafloor depth:-850.379069 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 849.857732 meters looking forward 0.000000 meters along route # Maximum depth: 849.857732 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 809.857732 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.750543; longitude = -117.480936; captureRadius = 10; duration = 60; initialDepth = 802.020046; finalDepth = 809.857732; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:809.857732 # Seafloor depth:-849.857732 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 842.020046 meters looking forward 0.000000 meters along route # Maximum depth: 842.020046 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 802.020046 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.750050; longitude = -117.480706; captureRadius = 10; duration = 60; initialDepth = 762.230913; finalDepth = 802.020046; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:802.020046 # Seafloor depth:-842.020046 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 802.230913 meters looking forward 0.000000 meters along route # Maximum depth: 802.230913 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 762.230913 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.749509; longitude = -117.480454; captureRadius = 10; duration = 60; initialDepth = 752.691936; finalDepth = 762.230913; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:762.230913 # Seafloor depth:-802.230913 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 792.691936 meters looking forward 0.000000 meters along route # Maximum depth: 792.691936 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 752.691936 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.748967; longitude = -117.480202; captureRadius = 10; duration = 60; initialDepth = 744.802334; finalDepth = 752.691936; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:752.691936 # Seafloor depth:-792.691936 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 784.802334 meters looking forward 0.000000 meters along route # Maximum depth: 784.802334 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 744.802334 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.748426; longitude = -117.479950; captureRadius = 10; duration = 60; initialDepth = 737.698888; finalDepth = 744.802334; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:744.802334 # Seafloor depth:-784.802334 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 777.698888 meters looking forward 0.000000 meters along route # Maximum depth: 777.698888 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 737.698888 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.747885; longitude = -117.479698; captureRadius = 10; duration = 60; initialDepth = 731.490687; finalDepth = 737.698888; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:737.698888 # Seafloor depth:-777.698888 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 771.490687 meters looking forward 0.000000 meters along route # Maximum depth: 771.490687 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 731.490687 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.747449; longitude = -117.479495; captureRadius = 10; duration = 60; initialDepth = 722.696782; finalDepth = 731.490687; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:731.490687 # Seafloor depth:-771.490687 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 762.696782 meters looking forward 0.000000 meters along route # Maximum depth: 762.696782 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 722.696782 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.746937; longitude = -117.479257; captureRadius = 10; duration = 60; initialDepth = 711.895399; finalDepth = 722.696782; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:722.696782 # Seafloor depth:-762.696782 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 751.895399 meters looking forward 0.000000 meters along route # Maximum depth: 751.895399 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 711.895399 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.746396; longitude = -117.479005; captureRadius = 10; duration = 60; initialDepth = 705.903636; finalDepth = 711.895399; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:711.895399 # Seafloor depth:-751.895399 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 745.903636 meters looking forward 0.000000 meters along route # Maximum depth: 745.903636 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 705.903636 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.745854; longitude = -117.478753; captureRadius = 10; duration = 60; initialDepth = 704.860439; finalDepth = 705.903636; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:705.903636 # Seafloor depth:-745.903636 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 744.860439 meters looking forward 0.000000 meters along route # Maximum depth: 744.860439 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 704.860439 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.745386; longitude = -117.478535; captureRadius = 10; duration = 60; initialDepth = 706.772077; finalDepth = 704.860439; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:704.860439 # Seafloor depth:-744.860439 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 746.772077 meters looking forward 0.000000 meters along route # Maximum depth: 746.772077 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 706.772077 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.744907; longitude = -117.478312; captureRadius = 10; duration = 60; initialDepth = 709.804827; finalDepth = 706.772077; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:706.772077 # Seafloor depth:-746.772077 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 749.804827 meters looking forward 0.000000 meters along route # Maximum depth: 749.804827 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 709.804827 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.744355; longitude = -117.478055; captureRadius = 10; duration = 60; initialDepth = 710.166433; finalDepth = 709.804827; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:709.804827 # Seafloor depth:-749.804827 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 750.166433 meters looking forward 0.000000 meters along route # Maximum depth: 750.166433 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 710.166433 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.743824; longitude = -117.477808; captureRadius = 10; duration = 60; initialDepth = 709.305668; finalDepth = 710.166433; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:710.166433 # Seafloor depth:-750.166433 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 749.305668 meters looking forward 0.000000 meters along route # Maximum depth: 749.305668 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 709.305668 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.743283; longitude = -117.477555; captureRadius = 10; duration = 60; initialDepth = 708.326454; finalDepth = 709.305668; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:709.305668 # Seafloor depth:-749.305668 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 748.326454 meters looking forward 0.000000 meters along route # Maximum depth: 748.326454 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 708.326454 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.742742; longitude = -117.477303; captureRadius = 10; duration = 60; initialDepth = 707.141030; finalDepth = 708.326454; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:708.326454 # Seafloor depth:-748.326454 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 747.141030 meters looking forward 0.000000 meters along route # Maximum depth: 747.141030 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 707.141030 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.742292; longitude = -117.477094; captureRadius = 10; duration = 60; initialDepth = 705.642872; finalDepth = 707.141030; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:707.14103 # Seafloor depth:-747.141030 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 745.642872 meters looking forward 0.000000 meters along route # Maximum depth: 745.642872 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 705.642872 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.741794; longitude = -117.476862; captureRadius = 10; duration = 60; initialDepth = 704.694377; finalDepth = 705.642872; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:705.642872 # Seafloor depth:-745.642872 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 744.694377 meters looking forward 0.000000 meters along route # Maximum depth: 744.694377 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 704.694377 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.741253; longitude = -117.476610; captureRadius = 10; duration = 60; initialDepth = 704.854241; finalDepth = 704.694377; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:704.694377 # Seafloor depth:-744.694377 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 744.854241 meters looking forward 0.000000 meters along route # Maximum depth: 744.854241 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 704.854241 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.740712; longitude = -117.476358; captureRadius = 10; duration = 60; initialDepth = 702.013778; finalDepth = 704.854241; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:704.854241 # Seafloor depth:-744.854241 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 742.013778 meters looking forward 0.000000 meters along route # Maximum depth: 742.013778 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 702.013778 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.740170; longitude = -117.476106; captureRadius = 10; duration = 60; initialDepth = 697.824169; finalDepth = 702.013778; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:702.013778 # Seafloor depth:-742.013778 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 737.824169 meters looking forward 0.000000 meters along route # Maximum depth: 737.824169 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 697.824169 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.739629; longitude = -117.475854; captureRadius = 10; duration = 60; initialDepth = 693.326426; finalDepth = 697.824169; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:697.824169 # Seafloor depth:-737.824169 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 733.326426 meters looking forward 0.000000 meters along route # Maximum depth: 733.326426 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 693.326426 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.739198; longitude = -117.475654; captureRadius = 10; duration = 60; initialDepth = 688.302482; finalDepth = 693.326426; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:693.326426 # Seafloor depth:-733.326426 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 728.302482 meters looking forward 0.000000 meters along route # Maximum depth: 728.302482 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 688.302482 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.738681; longitude = -117.475413; captureRadius = 10; duration = 60; initialDepth = 685.910047; finalDepth = 688.302482; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:688.302482 # Seafloor depth:-728.302482 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 725.910047 meters looking forward 0.000000 meters along route # Maximum depth: 725.910047 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 685.910047 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.738140; longitude = -117.475161; captureRadius = 10; duration = 60; initialDepth = 687.532296; finalDepth = 685.910047; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:685.910047 # Seafloor depth:-725.910047 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 727.532296 meters looking forward 0.000000 meters along route # Maximum depth: 727.532296 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 687.532296 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.737599; longitude = -117.474909; captureRadius = 10; duration = 60; initialDepth = 688.611389; finalDepth = 687.532296; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:687.532296 # Seafloor depth:-727.532296 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 728.611389 meters looking forward 0.000000 meters along route # Maximum depth: 728.611389 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 688.611389 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.737136; longitude = -117.474693; captureRadius = 10; duration = 60; initialDepth = 689.716500; finalDepth = 688.611389; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:688.611389 # Seafloor depth:-728.611389 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 729.716500 meters looking forward 0.000000 meters along route # Maximum depth: 729.716500 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 689.716500 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.736651; longitude = -117.474468; captureRadius = 10; duration = 60; initialDepth = 690.930093; finalDepth = 689.716500; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:689.7165 # Seafloor depth:-729.716500 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 730.930093 meters looking forward 0.000000 meters along route # Maximum depth: 730.930093 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 690.930093 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.736104; longitude = -117.474213; captureRadius = 10; duration = 60; initialDepth = 692.071735; finalDepth = 690.930093; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:690.930093 # Seafloor depth:-730.930093 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 732.071735 meters looking forward 0.000000 meters along route # Maximum depth: 732.071735 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 692.071735 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.735569; longitude = -117.473964; captureRadius = 10; duration = 60; initialDepth = 692.396294; finalDepth = 692.071735; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:692.071735 # Seafloor depth:-732.071735 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 732.396294 meters looking forward 0.000000 meters along route # Maximum depth: 732.396294 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 692.396294 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.735027; longitude = -117.473712; captureRadius = 10; duration = 60; initialDepth = 696.156045; finalDepth = 692.396294; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:692.396294 # Seafloor depth:-732.396294 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 736.156045 meters looking forward 0.000000 meters along route # Maximum depth: 736.156045 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 696.156045 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.734486; longitude = -117.473460; captureRadius = 10; duration = 60; initialDepth = 698.024058; finalDepth = 696.156045; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:696.156045 # Seafloor depth:-736.156045 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 738.024058 meters looking forward 0.000000 meters along route # Maximum depth: 738.024058 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 698.024058 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.734042; longitude = -117.473253; captureRadius = 10; duration = 60; initialDepth = 698.179199; finalDepth = 698.024058; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:698.024058 # Seafloor depth:-738.024058 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 6 # Segment length 60.876159 meters # Minimum depth: 738.179199 meters looking forward 0.000000 meters along route # Maximum depth: 738.179199 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 698.179199 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.733584; longitude = -117.473039; captureRadius = 10; duration = 60; # abortOnTimeout = True; initialDepth = 698.305996; finalDepth = 698.179199; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:698.179199 # Seafloor depth:-738.179199 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 738.305996 meters looking forward 0.000000 meters along route # Maximum depth: 738.305996 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 698.305996 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.733268; longitude = -117.472872; captureRadius = 10; duration = 60; initialDepth = 700.485132; finalDepth = 698.305996; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:698.305996 # Seafloor depth:-738.305996 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 740.485132 meters looking forward 0.000000 meters along route # Maximum depth: 740.485132 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.485132 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.732781; longitude = -117.472613; captureRadius = 10; duration = 60; initialDepth = 702.104690; finalDepth = 700.485132; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:700.485132 # Seafloor depth:-740.485132 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 742.104690 meters looking forward 0.000000 meters along route # Maximum depth: 742.104690 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 702.104690 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.732320; longitude = -117.472368; captureRadius = 10; duration = 60; initialDepth = 703.595961; finalDepth = 702.104690; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:702.10469 # Seafloor depth:-742.104690 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 743.595961 meters looking forward 0.000000 meters along route # Maximum depth: 743.595961 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 703.595961 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.731779; longitude = -117.472080; captureRadius = 10; duration = 60; initialDepth = 702.573112; finalDepth = 703.595961; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:703.595961 # Seafloor depth:-743.595961 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 742.573112 meters looking forward 0.000000 meters along route # Maximum depth: 742.573112 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 702.573112 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.731275; longitude = -117.471812; captureRadius = 10; duration = 60; initialDepth = 699.365869; finalDepth = 702.573112; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:702.573112 # Seafloor depth:-742.573112 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 739.365869 meters looking forward 0.000000 meters along route # Maximum depth: 739.365869 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 699.365869 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.730832; longitude = -117.471577; captureRadius = 10; duration = 60; initialDepth = 693.681711; finalDepth = 699.365869; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:699.365869 # Seafloor depth:-739.365869 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 733.681711 meters looking forward 0.000000 meters along route # Maximum depth: 733.681711 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 693.681711 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.730290; longitude = -117.471289; captureRadius = 10; duration = 60; initialDepth = 692.386707; finalDepth = 693.681711; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:693.681711 # Seafloor depth:-733.681711 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 732.386707 meters looking forward 0.000000 meters along route # Maximum depth: 732.386707 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 692.386707 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.729769; longitude = -117.471012; captureRadius = 10; duration = 60; initialDepth = 680.026394; finalDepth = 692.386707; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:692.386707 # Seafloor depth:-732.386707 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 720.026394 meters looking forward 0.000000 meters along route # Maximum depth: 720.026394 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 680.026394 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.729343; longitude = -117.470785; captureRadius = 10; duration = 60; initialDepth = 676.514481; finalDepth = 680.026394; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:680.026394 # Seafloor depth:-720.026394 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 716.514481 meters looking forward 0.000000 meters along route # Maximum depth: 716.514481 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 676.514481 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.728866; longitude = -117.470532; captureRadius = 10; duration = 60; initialDepth = 675.754574; finalDepth = 676.514481; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:676.514481 # Seafloor depth:-716.514481 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 715.754574 meters looking forward 0.000000 meters along route # Maximum depth: 715.754574 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 675.754574 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.728395; longitude = -117.470282; captureRadius = 10; duration = 60; initialDepth = 681.174424; finalDepth = 675.754574; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:675.754574 # Seafloor depth:-715.754574 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 721.174424 meters looking forward 0.000000 meters along route # Maximum depth: 721.174424 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 681.174424 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.727854; longitude = -117.469994; captureRadius = 10; duration = 60; initialDepth = 688.913034; finalDepth = 681.174424; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:681.174424 # Seafloor depth:-721.174424 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 728.913034 meters looking forward 0.000000 meters along route # Maximum depth: 728.913034 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 688.913034 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.727360; longitude = -117.469732; captureRadius = 10; duration = 60; initialDepth = 690.917300; finalDepth = 688.913034; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:688.913034 # Seafloor depth:-728.913034 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 730.917300 meters looking forward 0.000000 meters along route # Maximum depth: 730.917300 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 690.917300 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.726907; longitude = -117.469491; captureRadius = 10; duration = 60; initialDepth = 688.107541; finalDepth = 690.917300; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:690.9173 # Seafloor depth:-730.917300 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 728.107541 meters looking forward 0.000000 meters along route # Maximum depth: 728.107541 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 688.107541 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.726365; longitude = -117.469203; captureRadius = 10; duration = 60; initialDepth = 682.269910; finalDepth = 688.107541; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:688.107541 # Seafloor depth:-728.107541 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 722.269910 meters looking forward 0.000000 meters along route # Maximum depth: 722.269910 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 682.269910 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.725854; longitude = -117.468931; captureRadius = 10; duration = 60; initialDepth = 675.683014; finalDepth = 682.269910; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:682.26991 # Seafloor depth:-722.269910 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 715.683014 meters looking forward 0.000000 meters along route # Maximum depth: 715.683014 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 675.683014 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.725418; longitude = -117.468699; captureRadius = 10; duration = 60; initialDepth = 660.350434; finalDepth = 675.683014; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:675.683014 # Seafloor depth:-715.683014 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 700.350434 meters looking forward 0.000000 meters along route # Maximum depth: 700.350434 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 660.350434 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.724877; longitude = -117.468412; captureRadius = 10; duration = 60; initialDepth = 651.722565; finalDepth = 660.350434; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:660.350434 # Seafloor depth:-700.350434 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 691.722565 meters looking forward 0.000000 meters along route # Maximum depth: 691.722565 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 651.722565 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.724349; longitude = -117.468131; captureRadius = 10; duration = 60; initialDepth = 641.161617; finalDepth = 651.722565; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:651.722565 # Seafloor depth:-691.722565 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 681.161617 meters looking forward 0.000000 meters along route # Maximum depth: 681.161617 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 641.161617 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.723929; longitude = -117.467908; captureRadius = 10; duration = 60; initialDepth = 634.996854; finalDepth = 641.161617; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:641.161617 # Seafloor depth:-681.161617 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 674.996854 meters looking forward 0.000000 meters along route # Maximum depth: 674.996854 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 634.996854 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.723445; longitude = -117.467651; captureRadius = 10; duration = 60; initialDepth = 630.849439; finalDepth = 634.996854; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:634.996854 # Seafloor depth:-674.996854 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 670.849439 meters looking forward 0.000000 meters along route # Maximum depth: 670.849439 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 630.849439 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.722982; longitude = -117.467405; captureRadius = 10; duration = 60; initialDepth = 627.055160; finalDepth = 630.849439; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:630.849439 # Seafloor depth:-670.849439 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 667.055160 meters looking forward 0.000000 meters along route # Maximum depth: 667.055160 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 627.055160 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.722440; longitude = -117.467117; captureRadius = 10; duration = 60; initialDepth = 624.778430; finalDepth = 627.055160; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:627.05516 # Seafloor depth:-667.055160 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 664.778430 meters looking forward 0.000000 meters along route # Maximum depth: 664.778430 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 624.778430 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.721940; longitude = -117.466851; captureRadius = 10; duration = 60; initialDepth = 621.928871; finalDepth = 624.778430; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:624.77843 # Seafloor depth:-664.778430 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 661.928871 meters looking forward 0.000000 meters along route # Maximum depth: 661.928871 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 621.928871 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.721493; longitude = -117.466613; captureRadius = 10; duration = 60; initialDepth = 620.781088; finalDepth = 621.928871; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:621.928871 # Seafloor depth:-661.928871 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 660.781088 meters looking forward 0.000000 meters along route # Maximum depth: 660.781088 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 620.781088 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.720952; longitude = -117.466326; captureRadius = 10; duration = 60; initialDepth = 625.107733; finalDepth = 620.781088; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:620.781088 # Seafloor depth:-660.781088 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 665.107733 meters looking forward 0.000000 meters along route # Maximum depth: 665.107733 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 625.107733 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.720434; longitude = -117.466050; captureRadius = 10; duration = 60; initialDepth = 631.880232; finalDepth = 625.107733; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:625.107733 # Seafloor depth:-665.107733 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 671.880232 meters looking forward 0.000000 meters along route # Maximum depth: 671.880232 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 631.880232 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.720004; longitude = -117.465822; captureRadius = 10; duration = 60; initialDepth = 636.270362; finalDepth = 631.880232; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:631.880232 # Seafloor depth:-671.880232 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 676.270362 meters looking forward 0.000000 meters along route # Maximum depth: 676.270362 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 636.270362 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.719463; longitude = -117.465534; captureRadius = 10; duration = 60; initialDepth = 637.756866; finalDepth = 636.270362; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:636.270362 # Seafloor depth:-676.270362 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 677.756866 meters looking forward 0.000000 meters along route # Maximum depth: 677.756866 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 637.756866 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.718928; longitude = -117.465250; captureRadius = 10; duration = 60; initialDepth = 638.964083; finalDepth = 637.756866; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:637.756866 # Seafloor depth:-677.756866 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 678.964083 meters looking forward 0.000000 meters along route # Maximum depth: 678.964083 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 638.964083 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.718516; longitude = -117.465031; captureRadius = 10; duration = 60; initialDepth = 632.562123; finalDepth = 638.964083; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:638.964083 # Seafloor depth:-678.964083 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 672.562123 meters looking forward 0.000000 meters along route # Maximum depth: 672.562123 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 632.562123 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.717974; longitude = -117.464743; captureRadius = 10; duration = 60; initialDepth = 628.138184; finalDepth = 632.562123; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:632.562123 # Seafloor depth:-672.562123 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 5 # Segment length 60.876159 meters # Minimum depth: 668.138184 meters looking forward 0.000000 meters along route # Maximum depth: 668.138184 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 628.138184 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.717523; longitude = -117.464503; captureRadius = 10; duration = 60; # abortOnTimeout = True; initialDepth = 621.036990; finalDepth = 628.138184; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:628.138184 # Seafloor depth:-668.138184 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 661.036990 meters looking forward 0.000000 meters along route # Maximum depth: 661.036990 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 621.036990 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.717273; longitude = -117.464290; captureRadius = 10; duration = 60; initialDepth = 616.798980; finalDepth = 621.036990; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:621.03699 # Seafloor depth:-661.036990 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 656.798980 meters looking forward 0.000000 meters along route # Maximum depth: 656.798980 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 616.798980 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.716891; longitude = -117.463964; captureRadius = 10; duration = 60; initialDepth = 613.592540; finalDepth = 616.798980; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:616.79898 # Seafloor depth:-656.798980 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 653.592540 meters looking forward 0.000000 meters along route # Maximum depth: 653.592540 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 613.592540 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.716523; longitude = -117.463650; captureRadius = 10; duration = 60; initialDepth = 610.399319; finalDepth = 613.592540; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:613.59254 # Seafloor depth:-653.592540 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 650.399319 meters looking forward 0.000000 meters along route # Maximum depth: 650.399319 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 610.399319 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.716148; longitude = -117.463329; captureRadius = 10; duration = 60; initialDepth = 605.857226; finalDepth = 610.399319; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:610.399319 # Seafloor depth:-650.399319 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 645.857226 meters looking forward 0.000000 meters along route # Maximum depth: 645.857226 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 605.857226 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.715773; longitude = -117.463009; captureRadius = 10; duration = 60; initialDepth = 602.759542; finalDepth = 605.857226; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:605.857226 # Seafloor depth:-645.857226 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 642.759542 meters looking forward 0.000000 meters along route # Maximum depth: 642.759542 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 602.759542 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.715398; longitude = -117.462689; captureRadius = 10; duration = 60; initialDepth = 600.914056; finalDepth = 602.759542; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:602.759542 # Seafloor depth:-642.759542 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 640.914056 meters looking forward 0.000000 meters along route # Maximum depth: 640.914056 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 600.914056 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.715023; longitude = -117.462369; captureRadius = 10; duration = 60; initialDepth = 598.002111; finalDepth = 600.914056; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:600.914056 # Seafloor depth:-640.914056 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 638.002111 meters looking forward 0.000000 meters along route # Maximum depth: 638.002111 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 598.002111 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.714648; longitude = -117.462049; captureRadius = 10; duration = 60; initialDepth = 594.883865; finalDepth = 598.002111; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:598.002111 # Seafloor depth:-638.002111 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 634.883865 meters looking forward 0.000000 meters along route # Maximum depth: 634.883865 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 594.883865 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.714273; longitude = -117.461729; captureRadius = 10; duration = 60; initialDepth = 594.052566; finalDepth = 594.883865; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:594.883865 # Seafloor depth:-634.883865 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 634.052566 meters looking forward 0.000000 meters along route # Maximum depth: 634.052566 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 594.052566 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.713898; longitude = -117.461409; captureRadius = 10; duration = 60; initialDepth = 590.076034; finalDepth = 594.052566; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:594.052566 # Seafloor depth:-634.052566 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 630.076034 meters looking forward 0.000000 meters along route # Maximum depth: 630.076034 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 590.076034 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.713523; longitude = -117.461089; captureRadius = 10; duration = 60; initialDepth = 587.560240; finalDepth = 590.076034; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:590.076034 # Seafloor depth:-630.076034 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 627.560240 meters looking forward 0.000000 meters along route # Maximum depth: 627.560240 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 587.560240 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.713148; longitude = -117.460768; captureRadius = 10; duration = 60; initialDepth = 586.760423; finalDepth = 587.560240; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:587.56024 # Seafloor depth:-627.560240 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 626.760423 meters looking forward 0.000000 meters along route # Maximum depth: 626.760423 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 586.760423 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.712772; longitude = -117.460448; captureRadius = 10; duration = 60; initialDepth = 584.619792; finalDepth = 586.760423; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:586.760423 # Seafloor depth:-626.760423 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 4 # Segment length 60.876159 meters # Minimum depth: 624.619792 meters looking forward 0.000000 meters along route # Maximum depth: 624.619792 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 584.619792 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.712335; longitude = -117.460075; captureRadius = 10; duration = 60; # abortOnTimeout = True; initialDepth = 582.680131; finalDepth = 584.619792; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:584.619792 # Seafloor depth:-624.619792 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 622.680131 meters looking forward 0.000000 meters along route # Maximum depth: 622.680131 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 582.680131 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.712018; longitude = -117.459648; captureRadius = 10; duration = 60; initialDepth = 580.050393; finalDepth = 582.680131; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:582.680131 # Seafloor depth:-622.680131 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 620.050393 meters looking forward 0.000000 meters along route # Maximum depth: 620.050393 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 580.050393 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.711613; longitude = -117.459104; captureRadius = 10; duration = 60; initialDepth = 575.372482; finalDepth = 580.050393; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:580.050393 # Seafloor depth:-620.050393 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 615.372482 meters looking forward 0.000000 meters along route # Maximum depth: 615.372482 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 575.372482 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.711304; longitude = -117.458688; captureRadius = 10; duration = 60; initialDepth = 571.275829; finalDepth = 575.372482; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:575.372482 # Seafloor depth:-615.372482 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 611.275829 meters looking forward 0.000000 meters along route # Maximum depth: 611.275829 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 571.275829 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.710936; longitude = -117.458193; captureRadius = 10; duration = 60; initialDepth = 569.110168; finalDepth = 571.275829; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:571.275829 # Seafloor depth:-611.275829 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 609.110168 meters looking forward 0.000000 meters along route # Maximum depth: 609.110168 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 569.110168 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.710591; longitude = -117.457727; captureRadius = 10; duration = 60; initialDepth = 563.053100; finalDepth = 569.110168; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:569.110168 # Seafloor depth:-609.110168 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 603.053100 meters looking forward 0.000000 meters along route # Maximum depth: 603.053100 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 563.053100 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.710234; longitude = -117.457247; captureRadius = 10; duration = 60; initialDepth = 562.176876; finalDepth = 563.053100; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:563.0531 # Seafloor depth:-603.053100 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 602.176876 meters looking forward 0.000000 meters along route # Maximum depth: 602.176876 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 562.176876 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.709854; longitude = -117.456736; captureRadius = 10; duration = 60; initialDepth = 561.246072; finalDepth = 562.176876; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:562.176876 # Seafloor depth:-602.176876 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 601.246072 meters looking forward 0.000000 meters along route # Maximum depth: 601.246072 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 561.246072 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.709520; longitude = -117.456287; captureRadius = 10; duration = 60; initialDepth = 558.297969; finalDepth = 561.246072; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:561.246072 # Seafloor depth:-601.246072 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 598.297969 meters looking forward 0.000000 meters along route # Maximum depth: 598.297969 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 558.297969 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.709163; longitude = -117.455807; captureRadius = 10; duration = 60; initialDepth = 556.907647; finalDepth = 558.297969; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:558.297969 # Seafloor depth:-598.297969 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 596.907647 meters looking forward 0.000000 meters along route # Maximum depth: 596.907647 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 556.907647 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.708771; longitude = -117.455279; captureRadius = 10; duration = 60; initialDepth = 559.571940; finalDepth = 556.907647; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:556.907647 # Seafloor depth:-596.907647 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 3 # Segment length 60.876159 meters # Minimum depth: 599.571940 meters looking forward 0.000000 meters along route # Maximum depth: 599.571940 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 559.571940 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.708410; longitude = -117.454793; captureRadius = 10; duration = 60; # abortOnTimeout = True; initialDepth = 557.489224; finalDepth = 559.571940; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:559.57194 # Seafloor depth:-599.571940 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 597.489224 meters looking forward 0.000000 meters along route # Maximum depth: 597.489224 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 557.489224 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.708385; longitude = -117.454526; captureRadius = 10; duration = 60; initialDepth = 552.695322; finalDepth = 557.489224; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:557.489224 # Seafloor depth:-597.489224 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 592.695322 meters looking forward 0.000000 meters along route # Maximum depth: 592.695322 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 552.695322 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.708325; longitude = -117.453886; captureRadius = 10; duration = 60; initialDepth = 549.695123; finalDepth = 552.695322; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:552.695322 # Seafloor depth:-592.695322 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 589.695123 meters looking forward 0.000000 meters along route # Maximum depth: 589.695123 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 549.695123 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.708265; longitude = -117.453246; captureRadius = 10; duration = 60; initialDepth = 547.013785; finalDepth = 549.695123; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:549.695123 # Seafloor depth:-589.695123 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 587.013785 meters looking forward 0.000000 meters along route # Maximum depth: 587.013785 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 547.013785 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.708204; longitude = -117.452606; captureRadius = 10; duration = 60; initialDepth = 544.511848; finalDepth = 547.013785; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:547.013785 # Seafloor depth:-587.013785 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 584.511848 meters looking forward 0.000000 meters along route # Maximum depth: 584.511848 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 544.511848 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.708144; longitude = -117.451965; captureRadius = 10; duration = 60; initialDepth = 542.905924; finalDepth = 544.511848; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:544.511848 # Seafloor depth:-584.511848 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 582.905924 meters looking forward 0.000000 meters along route # Maximum depth: 582.905924 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 542.905924 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.708094; longitude = -117.451432; captureRadius = 10; duration = 60; initialDepth = 542.721603; finalDepth = 542.905924; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:542.905924 # Seafloor depth:-582.905924 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 582.721603 meters looking forward 0.000000 meters along route # Maximum depth: 582.721603 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 542.721603 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.708039; longitude = -117.450845; captureRadius = 10; duration = 60; initialDepth = 542.872380; finalDepth = 542.721603; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:542.721603 # Seafloor depth:-582.721603 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 582.872380 meters looking forward 0.000000 meters along route # Maximum depth: 582.872380 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 542.872380 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.707979; longitude = -117.450205; captureRadius = 10; duration = 60; initialDepth = 542.673195; finalDepth = 542.872380; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:542.87238 # Seafloor depth:-582.872380 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 582.673195 meters looking forward 0.000000 meters along route # Maximum depth: 582.673195 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 542.673195 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.707919; longitude = -117.449565; captureRadius = 10; duration = 60; initialDepth = 543.060165; finalDepth = 542.673195; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:542.673195 # Seafloor depth:-582.673195 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 583.060165 meters looking forward 0.000000 meters along route # Maximum depth: 583.060165 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 543.060165 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.707859; longitude = -117.448924; captureRadius = 10; duration = 60; initialDepth = 541.945053; finalDepth = 543.060165; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:543.060165 # Seafloor depth:-583.060165 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 581.945053 meters looking forward 0.000000 meters along route # Maximum depth: 581.945053 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 541.945053 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.707798; longitude = -117.448284; captureRadius = 10; duration = 60; initialDepth = 539.473459; finalDepth = 541.945053; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:541.945053 # Seafloor depth:-581.945053 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 579.473459 meters looking forward 0.000000 meters along route # Maximum depth: 579.473459 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 539.473459 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.707738; longitude = -117.447644; captureRadius = 10; duration = 60; initialDepth = 540.355001; finalDepth = 539.473459; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:539.473459 # Seafloor depth:-579.473459 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 580.355001 meters looking forward 0.000000 meters along route # Maximum depth: 580.355001 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 540.355001 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.707688; longitude = -117.447110; captureRadius = 10; duration = 60; initialDepth = 540.884931; finalDepth = 540.355001; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:540.355001 # Seafloor depth:-580.355001 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 580.884931 meters looking forward 0.000000 meters along route # Maximum depth: 580.884931 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 540.884931 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.707633; longitude = -117.446524; captureRadius = 10; duration = 60; initialDepth = 539.551030; finalDepth = 540.884931; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:540.884931 # Seafloor depth:-580.884931 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 579.551030 meters looking forward 0.000000 meters along route # Maximum depth: 579.551030 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 539.551030 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.707573; longitude = -117.445883; captureRadius = 10; duration = 60; initialDepth = 538.087357; finalDepth = 539.551030; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:539.55103 # Seafloor depth:-579.551030 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 578.087357 meters looking forward 0.000000 meters along route # Maximum depth: 578.087357 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 538.087357 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.707513; longitude = -117.445243; captureRadius = 10; duration = 60; initialDepth = 538.260620; finalDepth = 538.087357; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:538.087357 # Seafloor depth:-578.087357 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 2 # Segment length 60.876159 meters # Minimum depth: 578.260620 meters looking forward 0.000000 meters along route # Maximum depth: 578.260620 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 538.260620 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.707463; longitude = -117.444710; captureRadius = 10; duration = 60; # abortOnTimeout = True; initialDepth = 538.536469; finalDepth = 538.260620; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:538.26062 # Seafloor depth:-578.260620 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 578.536469 meters looking forward 0.000000 meters along route # Maximum depth: 578.536469 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 538.536469 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.707485; longitude = -117.444443; captureRadius = 10; duration = 60; initialDepth = 539.661487; finalDepth = 538.536469; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:538.536469 # Seafloor depth:-578.536469 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 579.661487 meters looking forward 0.000000 meters along route # Maximum depth: 579.661487 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 539.661487 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.707539; longitude = -117.443803; captureRadius = 10; duration = 60; initialDepth = 536.751239; finalDepth = 539.661487; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:539.661487 # Seafloor depth:-579.661487 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 576.751239 meters looking forward 0.000000 meters along route # Maximum depth: 576.751239 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 536.751239 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.707593; longitude = -117.443162; captureRadius = 10; duration = 60; initialDepth = 533.203656; finalDepth = 536.751239; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:536.751239 # Seafloor depth:-576.751239 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 573.203656 meters looking forward 0.000000 meters along route # Maximum depth: 573.203656 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 533.203656 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.707648; longitude = -117.442522; captureRadius = 10; duration = 60; initialDepth = 527.122870; finalDepth = 533.203656; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:533.203656 # Seafloor depth:-573.203656 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 567.122870 meters looking forward 0.000000 meters along route # Maximum depth: 567.122870 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 527.122870 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.707702; longitude = -117.441882; captureRadius = 10; duration = 60; initialDepth = 525.254242; finalDepth = 527.122870; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:527.12287 # Seafloor depth:-567.122870 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 565.254242 meters looking forward 0.000000 meters along route # Maximum depth: 565.254242 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 525.254242 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.707756; longitude = -117.441242; captureRadius = 10; duration = 60; initialDepth = 522.452460; finalDepth = 525.254242; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:525.254242 # Seafloor depth:-565.254242 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 562.452460 meters looking forward 0.000000 meters along route # Maximum depth: 562.452460 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 522.452460 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.707810; longitude = -117.440601; captureRadius = 10; duration = 60; initialDepth = 517.526160; finalDepth = 522.452460; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:522.45246 # Seafloor depth:-562.452460 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 557.526160 meters looking forward 0.000000 meters along route # Maximum depth: 557.526160 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 517.526160 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.707864; longitude = -117.439961; captureRadius = 10; duration = 60; initialDepth = 515.656921; finalDepth = 517.526160; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:517.52616 # Seafloor depth:-557.526160 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 555.656921 meters looking forward 0.000000 meters along route # Maximum depth: 555.656921 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 515.656921 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.707918; longitude = -117.439321; captureRadius = 10; duration = 60; initialDepth = 512.364978; finalDepth = 515.656921; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:515.656921 # Seafloor depth:-555.656921 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 552.364978 meters looking forward 0.000000 meters along route # Maximum depth: 552.364978 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 512.364978 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.707972; longitude = -117.438681; captureRadius = 10; duration = 60; initialDepth = 507.899933; finalDepth = 512.364978; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:512.364978 # Seafloor depth:-552.364978 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 547.899933 meters looking forward 0.000000 meters along route # Maximum depth: 547.899933 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 507.899933 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.708027; longitude = -117.438041; captureRadius = 10; duration = 60; initialDepth = 506.293927; finalDepth = 507.899933; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:507.899933 # Seafloor depth:-547.899933 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 546.293927 meters looking forward 0.000000 meters along route # Maximum depth: 546.293927 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 506.293927 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.708081; longitude = -117.437400; captureRadius = 10; duration = 60; initialDepth = 506.081726; finalDepth = 506.293927; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:506.293927 # Seafloor depth:-546.293927 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 546.081726 meters looking forward 0.000000 meters along route # Maximum depth: 546.081726 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 506.081726 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.708135; longitude = -117.436760; captureRadius = 10; duration = 60; initialDepth = 504.049457; finalDepth = 506.081726; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:506.081726 # Seafloor depth:-546.081726 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 544.049457 meters looking forward 0.000000 meters along route # Maximum depth: 544.049457 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 504.049457 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.708189; longitude = -117.436120; captureRadius = 10; duration = 60; initialDepth = 503.448181; finalDepth = 504.049457; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:504.049457 # Seafloor depth:-544.049457 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 543.448181 meters looking forward 0.000000 meters along route # Maximum depth: 543.448181 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 503.448181 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.708243; longitude = -117.435480; captureRadius = 10; duration = 60; initialDepth = 502.137115; finalDepth = 503.448181; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:503.448181 # Seafloor depth:-543.448181 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 542.137115 meters looking forward 0.000000 meters along route # Maximum depth: 542.137115 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 502.137115 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.708297; longitude = -117.434839; captureRadius = 10; duration = 60; initialDepth = 499.169055; finalDepth = 502.137115; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:502.137115 # Seafloor depth:-542.137115 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 539.169055 meters looking forward 0.000000 meters along route # Maximum depth: 539.169055 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 499.169055 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.708351; longitude = -117.434199; captureRadius = 10; duration = 60; initialDepth = 499.744684; finalDepth = 499.169055; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:499.169055 # Seafloor depth:-539.169055 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 539.744684 meters looking forward 0.000000 meters along route # Maximum depth: 539.744684 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 499.744684 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.708405; longitude = -117.433559; captureRadius = 10; duration = 60; initialDepth = 498.891927; finalDepth = 499.744684; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:499.744684 # Seafloor depth:-539.744684 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 1 # Segment length 60.876159 meters # Minimum depth: 538.891927 meters looking forward 0.000000 meters along route # Maximum depth: 538.891927 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 498.891927 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.708455; longitude = -117.432972; captureRadius = 10; duration = 60; # abortOnTimeout = True; initialDepth = 498.457304; finalDepth = 498.891927; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:498.891927 # Seafloor depth:-538.891927 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 538.457304 meters looking forward 0.000000 meters along route # Maximum depth: 538.457304 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 498.457304 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.708500; longitude = -117.432895; captureRadius = 10; duration = 60; initialDepth = 498.488762; finalDepth = 498.457304; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:498.457304 # Seafloor depth:-538.457304 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 538.488762 meters looking forward 0.000000 meters along route # Maximum depth: 538.488762 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 498.488762 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.708771; longitude = -117.432435; captureRadius = 10; duration = 60; initialDepth = 495.680182; finalDepth = 498.488762; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:498.488762 # Seafloor depth:-538.488762 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 535.680182 meters looking forward 0.000000 meters along route # Maximum depth: 535.680182 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 495.680182 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.709051; longitude = -117.431958; captureRadius = 10; duration = 60; initialDepth = 493.530934; finalDepth = 495.680182; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:495.680182 # Seafloor depth:-535.680182 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 533.530934 meters looking forward 0.000000 meters along route # Maximum depth: 533.530934 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 493.530934 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.709312; longitude = -117.431513; captureRadius = 10; duration = 60; initialDepth = 493.133156; finalDepth = 493.530934; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:493.530934 # Seafloor depth:-533.530934 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 533.133156 meters looking forward 0.000000 meters along route # Maximum depth: 533.133156 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 493.133156 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.709583; longitude = -117.431053; captureRadius = 10; duration = 60; initialDepth = 489.807273; finalDepth = 493.133156; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:493.133156 # Seafloor depth:-533.133156 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 529.807273 meters looking forward 0.000000 meters along route # Maximum depth: 529.807273 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 489.807273 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.709854; longitude = -117.430592; captureRadius = 10; duration = 60; initialDepth = 487.529813; finalDepth = 489.807273; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:489.807273 # Seafloor depth:-529.807273 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 527.529813 meters looking forward 0.000000 meters along route # Maximum depth: 527.529813 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 487.529813 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.710124; longitude = -117.430131; captureRadius = 10; duration = 60; initialDepth = 485.794737; finalDepth = 487.529813; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:487.529813 # Seafloor depth:-527.529813 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 525.794737 meters looking forward 0.000000 meters along route # Maximum depth: 525.794737 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 485.794737 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.710395; longitude = -117.429671; captureRadius = 10; duration = 60; initialDepth = 484.083173; finalDepth = 485.794737; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:485.794737 # Seafloor depth:-525.794737 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 524.083173 meters looking forward 0.000000 meters along route # Maximum depth: 524.083173 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 484.083173 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.710666; longitude = -117.429210; captureRadius = 10; duration = 60; initialDepth = 482.357417; finalDepth = 484.083173; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:484.083173 # Seafloor depth:-524.083173 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 522.357417 meters looking forward 0.000000 meters along route # Maximum depth: 522.357417 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 482.357417 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.710936; longitude = -117.428749; captureRadius = 10; duration = 60; initialDepth = 479.946936; finalDepth = 482.357417; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:482.357417 # Seafloor depth:-522.357417 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 519.946936 meters looking forward 0.000000 meters along route # Maximum depth: 519.946936 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 479.946936 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.711214; longitude = -117.428277; captureRadius = 10; duration = 60; initialDepth = 478.010471; finalDepth = 479.946936; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:479.946936 # Seafloor depth:-519.946936 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 518.010471 meters looking forward 0.000000 meters along route # Maximum depth: 518.010471 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 478.010471 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.711478; longitude = -117.427828; captureRadius = 10; duration = 60; initialDepth = 477.644228; finalDepth = 478.010471; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:478.010471 # Seafloor depth:-518.010471 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 517.644228 meters looking forward 0.000000 meters along route # Maximum depth: 517.644228 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 477.644228 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.711748; longitude = -117.427368; captureRadius = 10; duration = 60; initialDepth = 476.515527; finalDepth = 477.644228; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:477.644228 # Seafloor depth:-517.644228 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 516.515527 meters looking forward 0.000000 meters along route # Maximum depth: 516.515527 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 476.515527 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.712019; longitude = -117.426907; captureRadius = 10; duration = 60; initialDepth = 474.915189; finalDepth = 476.515527; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:476.515527 # Seafloor depth:-516.515527 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 514.915189 meters looking forward 0.000000 meters along route # Maximum depth: 514.915189 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 474.915189 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.712290; longitude = -117.426446; captureRadius = 10; duration = 60; initialDepth = 474.301869; finalDepth = 474.915189; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:474.915189 # Seafloor depth:-514.915189 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 514.301869 meters looking forward 0.000000 meters along route # Maximum depth: 514.301869 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 474.301869 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.712560; longitude = -117.425986; captureRadius = 10; duration = 60; initialDepth = 473.049482; finalDepth = 474.301869; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:474.301869 # Seafloor depth:-514.301869 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 513.049482 meters looking forward 0.000000 meters along route # Maximum depth: 513.049482 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 473.049482 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.712831; longitude = -117.425525; captureRadius = 10; duration = 60; initialDepth = 471.858063; finalDepth = 473.049482; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:473.049482 # Seafloor depth:-513.049482 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 511.858063 meters looking forward 0.000000 meters along route # Maximum depth: 511.858063 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 471.858063 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.713102; longitude = -117.425064; captureRadius = 10; duration = 60; initialDepth = 470.445062; finalDepth = 471.858063; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:471.858063 # Seafloor depth:-511.858063 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 510.445062 meters looking forward 0.000000 meters along route # Maximum depth: 510.445062 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 470.445062 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.713377; longitude = -117.424596; captureRadius = 10; duration = 60; initialDepth = 469.532045; finalDepth = 470.445062; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:470.445062 # Seafloor depth:-510.445062 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 509.532045 meters looking forward 0.000000 meters along route # Maximum depth: 509.532045 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 469.532045 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.713643; longitude = -117.424143; captureRadius = 10; duration = 60; initialDepth = 468.133069; finalDepth = 469.532045; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:469.532045 # Seafloor depth:-509.532045 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 508.133069 meters looking forward 0.000000 meters along route # Maximum depth: 508.133069 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 468.133069 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.713914; longitude = -117.423682; captureRadius = 10; duration = 60; initialDepth = 466.091534; finalDepth = 468.133069; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:468.133069 # Seafloor depth:-508.133069 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 506.091534 meters looking forward 0.000000 meters along route # Maximum depth: 506.091534 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 466.091534 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.714185; longitude = -117.423222; captureRadius = 10; duration = 60; initialDepth = 463.614404; finalDepth = 466.091534; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:466.091534 # Seafloor depth:-506.091534 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 503.614404 meters looking forward 0.000000 meters along route # Maximum depth: 503.614404 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 463.614404 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.714455; longitude = -117.422761; captureRadius = 10; duration = 60; initialDepth = 462.792883; finalDepth = 463.614404; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:463.614404 # Seafloor depth:-503.614404 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 502.792883 meters looking forward 0.000000 meters along route # Maximum depth: 502.792883 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 462.792883 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.714726; longitude = -117.422300; captureRadius = 10; duration = 60; initialDepth = 461.041051; finalDepth = 462.792883; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:462.792883 # Seafloor depth:-502.792883 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 501.041051 meters looking forward 0.000000 meters along route # Maximum depth: 501.041051 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 461.041051 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.714997; longitude = -117.421840; captureRadius = 10; duration = 60; initialDepth = 459.434255; finalDepth = 461.041051; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:461.041051 # Seafloor depth:-501.041051 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 499.434255 meters looking forward 0.000000 meters along route # Maximum depth: 499.434255 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 459.434255 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.715267; longitude = -117.421379; captureRadius = 10; duration = 60; initialDepth = 457.593828; finalDepth = 459.434255; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:459.434255 # Seafloor depth:-499.434255 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 497.593828 meters looking forward 0.000000 meters along route # Maximum depth: 497.593828 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 457.593828 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.715540; longitude = -117.420915; captureRadius = 10; duration = 60; initialDepth = 455.575376; finalDepth = 457.593828; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:457.593828 # Seafloor depth:-497.593828 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 495.575376 meters looking forward 0.000000 meters along route # Maximum depth: 495.575376 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 455.575376 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.715809; longitude = -117.420458; captureRadius = 10; duration = 60; initialDepth = 454.035287; finalDepth = 455.575376; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:455.575376 # Seafloor depth:-495.575376 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 494.035287 meters looking forward 0.000000 meters along route # Maximum depth: 494.035287 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 454.035287 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.716079; longitude = -117.419997; captureRadius = 10; duration = 60; initialDepth = 453.270162; finalDepth = 454.035287; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:454.035287 # Seafloor depth:-494.035287 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 493.270162 meters looking forward 0.000000 meters along route # Maximum depth: 493.270162 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 453.270162 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.716350; longitude = -117.419536; captureRadius = 10; duration = 60; initialDepth = 451.338338; finalDepth = 453.270162; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:453.270162 # Seafloor depth:-493.270162 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 491.338338 meters looking forward 0.000000 meters along route # Maximum depth: 491.338338 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 451.338338 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.716621; longitude = -117.419076; captureRadius = 10; duration = 60; initialDepth = 449.434330; finalDepth = 451.338338; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:451.338338 # Seafloor depth:-491.338338 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 489.434330 meters looking forward 0.000000 meters along route # Maximum depth: 489.434330 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 449.434330 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.716891; longitude = -117.418615; captureRadius = 10; duration = 60; initialDepth = 447.851552; finalDepth = 449.434330; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:449.43433 # Seafloor depth:-489.434330 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 487.851552 meters looking forward 0.000000 meters along route # Maximum depth: 487.851552 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 447.851552 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.717162; longitude = -117.418155; captureRadius = 10; duration = 60; initialDepth = 445.393886; finalDepth = 447.851552; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:447.851552 # Seafloor depth:-487.851552 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 60.876159 meters # Minimum depth: 485.393886 meters looking forward 0.000000 meters along route # Maximum depth: 485.393886 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 445.393886 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.717433; longitude = -117.417694; captureRadius = 10; duration = 60; initialDepth = 442.078735; finalDepth = 445.393886; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:445.393886 # Seafloor depth:-485.393886 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 482.078735 meters looking forward 0.000000 meters along route # Maximum depth: 482.078735 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 442.078735 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.717703; longitude = -117.417233; captureRadius = 10; duration = 60; initialDepth = 440.576042; finalDepth = 442.078735; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:442.078735 # Seafloor depth:-482.078735 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 480.576042 meters looking forward 0.000000 meters along route # Maximum depth: 480.576042 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 440.576042 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.717986; longitude = -117.416753; captureRadius = 10; duration = 60; initialDepth = 437.377825; finalDepth = 440.576042; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:440.576042 # Seafloor depth:-480.576042 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 477.377825 meters looking forward 0.000000 meters along route # Maximum depth: 477.377825 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 437.377825 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.718245; longitude = -117.416312; captureRadius = 10; duration = 60; initialDepth = 436.598753; finalDepth = 437.377825; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:437.377825 # Seafloor depth:-477.377825 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 476.598753 meters looking forward 0.000000 meters along route # Maximum depth: 476.598753 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 436.598753 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.718516; longitude = -117.415851; captureRadius = 10; duration = 60; initialDepth = 433.311165; finalDepth = 436.598753; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:436.598753 # Seafloor depth:-476.598753 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 473.311165 meters looking forward 0.000000 meters along route # Maximum depth: 473.311165 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 433.311165 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.718786; longitude = -117.415391; captureRadius = 10; duration = 60; initialDepth = 430.562650; finalDepth = 433.311165; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:433.311165 # Seafloor depth:-473.311165 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 470.562650 meters looking forward 0.000000 meters along route # Maximum depth: 470.562650 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 430.562650 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.719057; longitude = -117.414930; captureRadius = 10; duration = 60; initialDepth = 427.994022; finalDepth = 430.562650; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:430.56265 # Seafloor depth:-470.562650 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 467.994022 meters looking forward 0.000000 meters along route # Maximum depth: 467.994022 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 427.994022 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.719328; longitude = -117.414469; captureRadius = 10; duration = 60; initialDepth = 425.717930; finalDepth = 427.994022; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:427.994022 # Seafloor depth:-467.994022 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 465.717930 meters looking forward 0.000000 meters along route # Maximum depth: 465.717930 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 425.717930 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.719598; longitude = -117.414009; captureRadius = 10; duration = 60; initialDepth = 423.533661; finalDepth = 425.717930; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:425.71793 # Seafloor depth:-465.717930 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 463.533661 meters looking forward 0.000000 meters along route # Maximum depth: 463.533661 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 423.533661 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.719869; longitude = -117.413548; captureRadius = 10; duration = 60; initialDepth = 421.312858; finalDepth = 423.533661; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:423.533661 # Seafloor depth:-463.533661 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 461.312858 meters looking forward 0.000000 meters along route # Maximum depth: 461.312858 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 421.312858 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.720149; longitude = -117.413072; captureRadius = 10; duration = 60; initialDepth = 419.973421; finalDepth = 421.312858; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:421.312858 # Seafloor depth:-461.312858 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 459.973421 meters looking forward 0.000000 meters along route # Maximum depth: 459.973421 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 419.973421 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.720410; longitude = -117.412627; captureRadius = 10; duration = 60; initialDepth = 416.450783; finalDepth = 419.973421; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:419.973421 # Seafloor depth:-459.973421 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 456.450783 meters looking forward 0.000000 meters along route # Maximum depth: 456.450783 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 416.450783 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.720681; longitude = -117.412166; captureRadius = 10; duration = 60; initialDepth = 414.354936; finalDepth = 416.450783; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:416.450783 # Seafloor depth:-456.450783 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 454.354936 meters looking forward 0.000000 meters along route # Maximum depth: 454.354936 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 414.354936 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.720952; longitude = -117.411705; captureRadius = 10; duration = 60; initialDepth = 411.134783; finalDepth = 414.354936; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:414.354936 # Seafloor depth:-454.354936 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 451.134783 meters looking forward 0.000000 meters along route # Maximum depth: 451.134783 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 411.134783 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.721222; longitude = -117.411245; captureRadius = 10; duration = 60; initialDepth = 408.654138; finalDepth = 411.134783; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:411.134783 # Seafloor depth:-451.134783 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 448.654138 meters looking forward 0.000000 meters along route # Maximum depth: 448.654138 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 408.654138 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.721493; longitude = -117.410784; captureRadius = 10; duration = 60; initialDepth = 406.000978; finalDepth = 408.654138; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:408.654138 # Seafloor depth:-448.654138 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 446.000978 meters looking forward 0.000000 meters along route # Maximum depth: 446.000978 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 406.000978 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.721764; longitude = -117.410323; captureRadius = 10; duration = 60; initialDepth = 406.052927; finalDepth = 406.000978; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:406.000978 # Seafloor depth:-446.000978 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 446.052927 meters looking forward 0.000000 meters along route # Maximum depth: 446.052927 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 406.052927 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.722034; longitude = -117.409863; captureRadius = 10; duration = 60; initialDepth = 405.617803; finalDepth = 406.052927; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:406.052927 # Seafloor depth:-446.052927 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 445.617803 meters looking forward 0.000000 meters along route # Maximum depth: 445.617803 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 405.617803 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.722312; longitude = -117.409390; captureRadius = 10; duration = 60; initialDepth = 405.918992; finalDepth = 405.617803; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:405.617803 # Seafloor depth:-445.617803 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 445.918992 meters looking forward 0.000000 meters along route # Maximum depth: 445.918992 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 405.918992 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.722576; longitude = -117.408942; captureRadius = 10; duration = 60; initialDepth = 405.111660; finalDepth = 405.918992; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:405.918992 # Seafloor depth:-445.918992 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 445.111660 meters looking forward 0.000000 meters along route # Maximum depth: 445.111660 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 405.111660 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.722846; longitude = -117.408481; captureRadius = 10; duration = 60; initialDepth = 405.225874; finalDepth = 405.111660; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:405.11166 # Seafloor depth:-445.111660 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 445.225874 meters looking forward 0.000000 meters along route # Maximum depth: 445.225874 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 405.225874 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.723117; longitude = -117.408020; captureRadius = 10; duration = 60; initialDepth = 401.783764; finalDepth = 405.225874; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:405.225874 # Seafloor depth:-445.225874 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 441.783764 meters looking forward 0.000000 meters along route # Maximum depth: 441.783764 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 401.783764 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.723388; longitude = -117.407560; captureRadius = 10; duration = 60; initialDepth = 400.549061; finalDepth = 401.783764; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:401.783764 # Seafloor depth:-441.783764 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 440.549061 meters looking forward 0.000000 meters along route # Maximum depth: 440.549061 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 400.549061 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.723658; longitude = -117.407099; captureRadius = 10; duration = 60; initialDepth = 399.118913; finalDepth = 400.549061; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:400.549061 # Seafloor depth:-440.549061 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 439.118913 meters looking forward 0.000000 meters along route # Maximum depth: 439.118913 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 399.118913 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.723929; longitude = -117.406638; captureRadius = 10; duration = 60; initialDepth = 397.109685; finalDepth = 399.118913; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:399.118913 # Seafloor depth:-439.118913 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 437.109685 meters looking forward 0.000000 meters along route # Maximum depth: 437.109685 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 397.109685 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.724200; longitude = -117.406178; captureRadius = 10; duration = 60; initialDepth = 396.410592; finalDepth = 397.109685; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:397.109685 # Seafloor depth:-437.109685 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 436.410592 meters looking forward 0.000000 meters along route # Maximum depth: 436.410592 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 396.410592 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.724475; longitude = -117.405709; captureRadius = 10; duration = 60; initialDepth = 395.590215; finalDepth = 396.410592; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:396.410592 # Seafloor depth:-436.410592 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 435.590215 meters looking forward 0.000000 meters along route # Maximum depth: 435.590215 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 395.590215 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.724741; longitude = -117.405256; captureRadius = 10; duration = 60; initialDepth = 394.278299; finalDepth = 395.590215; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:395.590215 # Seafloor depth:-435.590215 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 434.278299 meters looking forward 0.000000 meters along route # Maximum depth: 434.278299 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 394.278299 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.725012; longitude = -117.404796; captureRadius = 10; duration = 60; initialDepth = 393.426648; finalDepth = 394.278299; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:394.278299 # Seafloor depth:-434.278299 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 433.426648 meters looking forward 0.000000 meters along route # Maximum depth: 433.426648 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 393.426648 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.725283; longitude = -117.404335; captureRadius = 10; duration = 60; initialDepth = 392.327795; finalDepth = 393.426648; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:393.426648 # Seafloor depth:-433.426648 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 432.327795 meters looking forward 0.000000 meters along route # Maximum depth: 432.327795 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 392.327795 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.725553; longitude = -117.403874; captureRadius = 10; duration = 60; initialDepth = 391.989619; finalDepth = 392.327795; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:392.327795 # Seafloor depth:-432.327795 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 431.989619 meters looking forward 0.000000 meters along route # Maximum depth: 431.989619 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 391.989619 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.725824; longitude = -117.403414; captureRadius = 10; duration = 60; initialDepth = 390.346491; finalDepth = 391.989619; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:391.989619 # Seafloor depth:-431.989619 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 430.346491 meters looking forward 0.000000 meters along route # Maximum depth: 430.346491 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 390.346491 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.726095; longitude = -117.402953; captureRadius = 10; duration = 60; initialDepth = 388.949224; finalDepth = 390.346491; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:390.346491 # Seafloor depth:-430.346491 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 428.949224 meters looking forward 0.000000 meters along route # Maximum depth: 428.949224 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 388.949224 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.726365; longitude = -117.402492; captureRadius = 10; duration = 60; initialDepth = 388.347537; finalDepth = 388.949224; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:388.949224 # Seafloor depth:-428.949224 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 428.347537 meters looking forward 0.000000 meters along route # Maximum depth: 428.347537 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 388.347537 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.726638; longitude = -117.402028; captureRadius = 10; duration = 60; initialDepth = 388.606511; finalDepth = 388.347537; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:388.347537 # Seafloor depth:-428.347537 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 428.606511 meters looking forward 0.000000 meters along route # Maximum depth: 428.606511 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 388.606511 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.726907; longitude = -117.401571; captureRadius = 10; duration = 60; initialDepth = 386.937304; finalDepth = 388.606511; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:388.606511 # Seafloor depth:-428.606511 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 426.937304 meters looking forward 0.000000 meters along route # Maximum depth: 426.937304 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 386.937304 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.727177; longitude = -117.401111; captureRadius = 10; duration = 60; initialDepth = 385.711702; finalDepth = 386.937304; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:386.937304 # Seafloor depth:-426.937304 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 425.711702 meters looking forward 0.000000 meters along route # Maximum depth: 425.711702 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 385.711702 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.727448; longitude = -117.400650; captureRadius = 10; duration = 60; initialDepth = 385.242374; finalDepth = 385.711702; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:385.711702 # Seafloor depth:-425.711702 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 425.242374 meters looking forward 0.000000 meters along route # Maximum depth: 425.242374 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 385.242374 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.727719; longitude = -117.400189; captureRadius = 10; duration = 60; initialDepth = 385.481772; finalDepth = 385.242374; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:385.242374 # Seafloor depth:-425.242374 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 425.481772 meters looking forward 0.000000 meters along route # Maximum depth: 425.481772 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 385.481772 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.727989; longitude = -117.399729; captureRadius = 10; duration = 60; initialDepth = 383.878046; finalDepth = 385.481772; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:385.481772 # Seafloor depth:-425.481772 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 423.878046 meters looking forward 0.000000 meters along route # Maximum depth: 423.878046 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 383.878046 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.728260; longitude = -117.399268; captureRadius = 10; duration = 60; initialDepth = 382.389582; finalDepth = 383.878046; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:383.878046 # Seafloor depth:-423.878046 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 422.389582 meters looking forward 0.000000 meters along route # Maximum depth: 422.389582 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 382.389582 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.728531; longitude = -117.398807; captureRadius = 10; duration = 60; initialDepth = 380.959320; finalDepth = 382.389582; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:382.389582 # Seafloor depth:-422.389582 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 420.959320 meters looking forward 0.000000 meters along route # Maximum depth: 420.959320 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 380.959320 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.728801; longitude = -117.398347; captureRadius = 10; duration = 60; initialDepth = 380.956313; finalDepth = 380.959320; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:380.95932 # Seafloor depth:-420.959320 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 420.956313 meters looking forward 0.000000 meters along route # Maximum depth: 420.956313 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 380.956313 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.729084; longitude = -117.397866; captureRadius = 10; duration = 60; initialDepth = 378.840808; finalDepth = 380.956313; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:380.956313 # Seafloor depth:-420.956313 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 418.840808 meters looking forward 0.000000 meters along route # Maximum depth: 418.840808 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 378.840808 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.729343; longitude = -117.397425; captureRadius = 10; duration = 60; initialDepth = 377.862412; finalDepth = 378.840808; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:378.840808 # Seafloor depth:-418.840808 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 417.862412 meters looking forward 0.000000 meters along route # Maximum depth: 417.862412 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 377.862412 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.729614; longitude = -117.396965; captureRadius = 10; duration = 60; initialDepth = 376.395594; finalDepth = 377.862412; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:377.862412 # Seafloor depth:-417.862412 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 416.395594 meters looking forward 0.000000 meters along route # Maximum depth: 416.395594 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 376.395594 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.729884; longitude = -117.396504; captureRadius = 10; duration = 60; initialDepth = 375.468823; finalDepth = 376.395594; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:376.395594 # Seafloor depth:-416.395594 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 415.468823 meters looking forward 0.000000 meters along route # Maximum depth: 415.468823 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 375.468823 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.730155; longitude = -117.396043; captureRadius = 10; duration = 60; initialDepth = 373.387404; finalDepth = 375.468823; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:375.468823 # Seafloor depth:-415.468823 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 413.387404 meters looking forward 0.000000 meters along route # Maximum depth: 413.387404 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 373.387404 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.730426; longitude = -117.395583; captureRadius = 10; duration = 60; initialDepth = 372.503233; finalDepth = 373.387404; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:373.387404 # Seafloor depth:-413.387404 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 412.503233 meters looking forward 0.000000 meters along route # Maximum depth: 412.503233 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 372.503233 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.730696; longitude = -117.395122; captureRadius = 10; duration = 60; initialDepth = 371.308926; finalDepth = 372.503233; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:372.503233 # Seafloor depth:-412.503233 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 411.308926 meters looking forward 0.000000 meters along route # Maximum depth: 411.308926 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 371.308926 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.730967; longitude = -117.394661; captureRadius = 10; duration = 60; initialDepth = 370.057975; finalDepth = 371.308926; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:371.308926 # Seafloor depth:-411.308926 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 410.057975 meters looking forward 0.000000 meters along route # Maximum depth: 410.057975 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 370.057975 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.731247; longitude = -117.394185; captureRadius = 10; duration = 60; initialDepth = 368.606991; finalDepth = 370.057975; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:370.057975 # Seafloor depth:-410.057975 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 408.606991 meters looking forward 0.000000 meters along route # Maximum depth: 408.606991 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 368.606991 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.731508; longitude = -117.393740; captureRadius = 10; duration = 60; initialDepth = 372.069688; finalDepth = 368.606991; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:368.606991 # Seafloor depth:-408.606991 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 412.069688 meters looking forward 0.000000 meters along route # Maximum depth: 412.069688 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 372.069688 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.731779; longitude = -117.393279; captureRadius = 10; duration = 60; initialDepth = 366.085044; finalDepth = 372.069688; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:372.069688 # Seafloor depth:-412.069688 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 406.085044 meters looking forward 0.000000 meters along route # Maximum depth: 406.085044 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 366.085044 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.732050; longitude = -117.392819; captureRadius = 10; duration = 60; initialDepth = 363.469216; finalDepth = 366.085044; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:366.085044 # Seafloor depth:-406.085044 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 403.469216 meters looking forward 0.000000 meters along route # Maximum depth: 403.469216 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 363.469216 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.732320; longitude = -117.392358; captureRadius = 10; duration = 60; initialDepth = 361.339446; finalDepth = 363.469216; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:363.469216 # Seafloor depth:-403.469216 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 401.339446 meters looking forward 0.000000 meters along route # Maximum depth: 401.339446 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 361.339446 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.732591; longitude = -117.391898; captureRadius = 10; duration = 60; initialDepth = 361.056266; finalDepth = 361.339446; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:361.339446 # Seafloor depth:-401.339446 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 401.056266 meters looking forward 0.000000 meters along route # Maximum depth: 401.056266 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 361.056266 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.732862; longitude = -117.391437; captureRadius = 10; duration = 60; initialDepth = 359.221617; finalDepth = 361.056266; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:361.056266 # Seafloor depth:-401.056266 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 399.221617 meters looking forward 0.000000 meters along route # Maximum depth: 399.221617 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 359.221617 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.733132; longitude = -117.390976; captureRadius = 10; duration = 60; initialDepth = 357.761001; finalDepth = 359.221617; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:359.221617 # Seafloor depth:-399.221617 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 397.761001 meters looking forward 0.000000 meters along route # Maximum depth: 397.761001 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 357.761001 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.733410; longitude = -117.390504; captureRadius = 10; duration = 60; initialDepth = 357.112821; finalDepth = 357.761001; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:357.761001 # Seafloor depth:-397.761001 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 397.112821 meters looking forward 0.000000 meters along route # Maximum depth: 397.112821 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 357.112821 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.733674; longitude = -117.390055; captureRadius = 10; duration = 60; initialDepth = 355.455490; finalDepth = 357.112821; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:357.112821 # Seafloor depth:-397.112821 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 395.455490 meters looking forward 0.000000 meters along route # Maximum depth: 395.455490 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 355.455490 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.733944; longitude = -117.389594; captureRadius = 10; duration = 60; initialDepth = 355.149416; finalDepth = 355.455490; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:355.45549 # Seafloor depth:-395.455490 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 395.149416 meters looking forward 0.000000 meters along route # Maximum depth: 395.149416 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 355.149416 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.734215; longitude = -117.389134; captureRadius = 10; duration = 60; initialDepth = 352.918623; finalDepth = 355.149416; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:355.149416 # Seafloor depth:-395.149416 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 392.918623 meters looking forward 0.000000 meters along route # Maximum depth: 392.918623 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 352.918623 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.734486; longitude = -117.388673; captureRadius = 10; duration = 60; initialDepth = 350.451265; finalDepth = 352.918623; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:352.918623 # Seafloor depth:-392.918623 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 390.451265 meters looking forward 0.000000 meters along route # Maximum depth: 390.451265 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 350.451265 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.734756; longitude = -117.388212; captureRadius = 10; duration = 60; initialDepth = 348.616678; finalDepth = 350.451265; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:350.451265 # Seafloor depth:-390.451265 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 388.616678 meters looking forward 0.000000 meters along route # Maximum depth: 388.616678 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 348.616678 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.735027; longitude = -117.387752; captureRadius = 10; duration = 60; initialDepth = 346.785170; finalDepth = 348.616678; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:348.616678 # Seafloor depth:-388.616678 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 386.785170 meters looking forward 0.000000 meters along route # Maximum depth: 386.785170 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 346.785170 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.735298; longitude = -117.387291; captureRadius = 10; duration = 60; initialDepth = 345.416428; finalDepth = 346.785170; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:346.78517 # Seafloor depth:-386.785170 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 385.416428 meters looking forward 0.000000 meters along route # Maximum depth: 385.416428 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 345.416428 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.735573; longitude = -117.386823; captureRadius = 10; duration = 60; initialDepth = 342.824421; finalDepth = 345.416428; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:345.416428 # Seafloor depth:-385.416428 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 382.824421 meters looking forward 0.000000 meters along route # Maximum depth: 382.824421 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 342.824421 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.735839; longitude = -117.386370; captureRadius = 10; duration = 60; initialDepth = 340.876405; finalDepth = 342.824421; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:342.824421 # Seafloor depth:-382.824421 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 380.876405 meters looking forward 0.000000 meters along route # Maximum depth: 380.876405 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 340.876405 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.736110; longitude = -117.385909; captureRadius = 10; duration = 60; initialDepth = 338.719768; finalDepth = 340.876405; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:340.876405 # Seafloor depth:-380.876405 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 378.719768 meters looking forward 0.000000 meters along route # Maximum depth: 378.719768 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 338.719768 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.736381; longitude = -117.385448; captureRadius = 10; duration = 60; initialDepth = 335.650365; finalDepth = 338.719768; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:338.719768 # Seafloor depth:-378.719768 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 375.650365 meters looking forward 0.000000 meters along route # Maximum depth: 375.650365 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 335.650365 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.736651; longitude = -117.384988; captureRadius = 10; duration = 60; initialDepth = 330.960905; finalDepth = 335.650365; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:335.650365 # Seafloor depth:-375.650365 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 370.960905 meters looking forward 0.000000 meters along route # Maximum depth: 370.960905 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 330.960905 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.736922; longitude = -117.384527; captureRadius = 10; duration = 60; initialDepth = 328.880466; finalDepth = 330.960905; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:330.960905 # Seafloor depth:-370.960905 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 368.880466 meters looking forward 0.000000 meters along route # Maximum depth: 368.880466 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 328.880466 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.737193; longitude = -117.384066; captureRadius = 10; duration = 60; initialDepth = 323.325262; finalDepth = 328.880466; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:328.880466 # Seafloor depth:-368.880466 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 363.325262 meters looking forward 0.000000 meters along route # Maximum depth: 363.325262 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 323.325262 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.737463; longitude = -117.383606; captureRadius = 10; duration = 60; initialDepth = 318.465805; finalDepth = 323.325262; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:323.325262 # Seafloor depth:-363.325262 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 358.465805 meters looking forward 0.000000 meters along route # Maximum depth: 358.465805 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 318.465805 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.737736; longitude = -117.383141; captureRadius = 10; duration = 60; initialDepth = 314.706989; finalDepth = 318.465805; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:318.465805 # Seafloor depth:-358.465805 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 354.706989 meters looking forward 0.000000 meters along route # Maximum depth: 354.706989 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 314.706989 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.738005; longitude = -117.382685; captureRadius = 10; duration = 60; initialDepth = 310.552880; finalDepth = 314.706989; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:314.706989 # Seafloor depth:-354.706989 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 350.552880 meters looking forward 0.000000 meters along route # Maximum depth: 350.552880 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 310.552880 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.738275; longitude = -117.382224; captureRadius = 10; duration = 60; initialDepth = 306.549837; finalDepth = 310.552880; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:310.55288 # Seafloor depth:-350.552880 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 346.549837 meters looking forward 0.000000 meters along route # Maximum depth: 346.549837 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 306.549837 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.738546; longitude = -117.381763; captureRadius = 10; duration = 60; initialDepth = 302.679311; finalDepth = 306.549837; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:306.549837 # Seafloor depth:-346.549837 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 342.679311 meters looking forward 0.000000 meters along route # Maximum depth: 342.679311 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 302.679311 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.738817; longitude = -117.381303; captureRadius = 10; duration = 60; initialDepth = 298.417460; finalDepth = 302.679311; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:302.679311 # Seafloor depth:-342.679311 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 338.417460 meters looking forward 0.000000 meters along route # Maximum depth: 338.417460 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 298.417460 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.739087; longitude = -117.380842; captureRadius = 10; duration = 60; initialDepth = 293.936680; finalDepth = 298.417460; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:298.41746 # Seafloor depth:-338.417460 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 333.936680 meters looking forward 0.000000 meters along route # Maximum depth: 333.936680 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 293.936680 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.739358; longitude = -117.380381; captureRadius = 10; duration = 60; initialDepth = 289.348415; finalDepth = 293.936680; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:293.93668 # Seafloor depth:-333.936680 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 329.348415 meters looking forward 0.000000 meters along route # Maximum depth: 329.348415 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 289.348415 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.739629; longitude = -117.379921; captureRadius = 10; duration = 60; initialDepth = 284.506531; finalDepth = 289.348415; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:289.348415 # Seafloor depth:-329.348415 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 324.506531 meters looking forward 0.000000 meters along route # Maximum depth: 324.506531 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 284.506531 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.739899; longitude = -117.379460; captureRadius = 10; duration = 60; initialDepth = 280.491989; finalDepth = 284.506531; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:284.506531 # Seafloor depth:-324.506531 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 320.491989 meters looking forward 0.000000 meters along route # Maximum depth: 320.491989 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 280.491989 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.740182; longitude = -117.378980; captureRadius = 10; duration = 60; initialDepth = 276.482781; finalDepth = 280.491989; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:280.491989 # Seafloor depth:-320.491989 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 316.482781 meters looking forward 0.000000 meters along route # Maximum depth: 316.482781 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 276.482781 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.740441; longitude = -117.378539; captureRadius = 10; duration = 60; initialDepth = 270.818157; finalDepth = 276.482781; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:276.482781 # Seafloor depth:-316.482781 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 310.818157 meters looking forward 0.000000 meters along route # Maximum depth: 310.818157 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 270.818157 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.740712; longitude = -117.378078; captureRadius = 10; duration = 60; initialDepth = 266.085544; finalDepth = 270.818157; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:270.818157 # Seafloor depth:-310.818157 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 306.085544 meters looking forward 0.000000 meters along route # Maximum depth: 306.085544 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 266.085544 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.740982; longitude = -117.377617; captureRadius = 10; duration = 60; initialDepth = 260.840952; finalDepth = 266.085544; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:266.085544 # Seafloor depth:-306.085544 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 300.840952 meters looking forward 0.000000 meters along route # Maximum depth: 300.840952 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 260.840952 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.741253; longitude = -117.377157; captureRadius = 10; duration = 60; initialDepth = 255.946085; finalDepth = 260.840952; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:260.840952 # Seafloor depth:-300.840952 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 295.946085 meters looking forward 0.000000 meters along route # Maximum depth: 295.946085 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 255.946085 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.741524; longitude = -117.376696; captureRadius = 10; duration = 60; initialDepth = 251.149662; finalDepth = 255.946085; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:255.946085 # Seafloor depth:-295.946085 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 291.149662 meters looking forward 0.000000 meters along route # Maximum depth: 291.149662 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 251.149662 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.741794; longitude = -117.376235; captureRadius = 10; duration = 60; initialDepth = 246.518896; finalDepth = 251.149662; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:251.149662 # Seafloor depth:-291.149662 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 286.518896 meters looking forward 0.000000 meters along route # Maximum depth: 286.518896 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 246.518896 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.742065; longitude = -117.375775; captureRadius = 10; duration = 60; initialDepth = 241.283101; finalDepth = 246.518896; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:246.518896 # Seafloor depth:-286.518896 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 281.283101 meters looking forward 0.000000 meters along route # Maximum depth: 281.283101 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 241.283101 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.742345; longitude = -117.375299; captureRadius = 10; duration = 60; initialDepth = 236.568196; finalDepth = 241.283101; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:241.283101 # Seafloor depth:-281.283101 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 276.568196 meters looking forward 0.000000 meters along route # Maximum depth: 276.568196 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 236.568196 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.742606; longitude = -117.374853; captureRadius = 10; duration = 60; initialDepth = 231.389779; finalDepth = 236.568196; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:236.568196 # Seafloor depth:-276.568196 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 271.389779 meters looking forward 0.000000 meters along route # Maximum depth: 271.389779 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 231.389779 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.742877; longitude = -117.374393; captureRadius = 10; duration = 60; initialDepth = 225.475302; finalDepth = 231.389779; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:231.389779 # Seafloor depth:-271.389779 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 265.475302 meters looking forward 0.000000 meters along route # Maximum depth: 265.475302 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 225.475302 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.743148; longitude = -117.373932; captureRadius = 10; duration = 60; initialDepth = 223.561317; finalDepth = 225.475302; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:225.475302 # Seafloor depth:-265.475302 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 263.561317 meters looking forward 0.000000 meters along route # Maximum depth: 263.561317 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 223.561317 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.743418; longitude = -117.373472; captureRadius = 10; duration = 60; initialDepth = 217.059638; finalDepth = 223.561317; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:223.561317 # Seafloor depth:-263.561317 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 257.059638 meters looking forward 0.000000 meters along route # Maximum depth: 257.059638 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 217.059638 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.743689; longitude = -117.373011; captureRadius = 10; duration = 60; initialDepth = 210.898047; finalDepth = 217.059638; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:217.059638 # Seafloor depth:-257.059638 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 250.898047 meters looking forward 0.000000 meters along route # Maximum depth: 250.898047 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 210.898047 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.743960; longitude = -117.372550; captureRadius = 10; duration = 60; initialDepth = 204.062985; finalDepth = 210.898047; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:210.898047 # Seafloor depth:-250.898047 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 244.062985 meters looking forward 0.000000 meters along route # Maximum depth: 244.062985 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 204.062985 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.744230; longitude = -117.372090; captureRadius = 10; duration = 60; initialDepth = 198.106736; finalDepth = 204.062985; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:204.062985 # Seafloor depth:-244.062985 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 238.106736 meters looking forward 0.000000 meters along route # Maximum depth: 238.106736 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 198.106736 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.744508; longitude = -117.371617; captureRadius = 10; duration = 60; initialDepth = 192.094118; finalDepth = 198.106736; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:198.106736 # Seafloor depth:-238.106736 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 232.094118 meters looking forward 0.000000 meters along route # Maximum depth: 232.094118 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 192.094118 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.744772; longitude = -117.371168; captureRadius = 10; duration = 60; initialDepth = 184.939685; finalDepth = 192.094118; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:192.094118 # Seafloor depth:-232.094118 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 224.939685 meters looking forward 0.000000 meters along route # Maximum depth: 224.939685 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 184.939685 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.745042; longitude = -117.370708; captureRadius = 10; duration = 60; initialDepth = 177.229230; finalDepth = 184.939685; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:184.939685 # Seafloor depth:-224.939685 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 217.229230 meters looking forward 0.000000 meters along route # Maximum depth: 217.229230 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 177.229230 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.745313; longitude = -117.370247; captureRadius = 10; duration = 60; initialDepth = 169.278369; finalDepth = 177.229230; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:177.22923 # Seafloor depth:-217.229230 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 209.278369 meters looking forward 0.000000 meters along route # Maximum depth: 209.278369 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 169.278369 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.745584; longitude = -117.369786; captureRadius = 10; duration = 60; initialDepth = 160.869104; finalDepth = 169.278369; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:169.278369 # Seafloor depth:-209.278369 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 200.869104 meters looking forward 0.000000 meters along route # Maximum depth: 200.869104 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 160.869104 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.745854; longitude = -117.369326; captureRadius = 10; duration = 60; initialDepth = 151.389896; finalDepth = 160.869104; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:160.869104 # Seafloor depth:-200.869104 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 191.389896 meters looking forward 0.000000 meters along route # Maximum depth: 191.389896 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 151.389896 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.746125; longitude = -117.368865; captureRadius = 10; duration = 60; initialDepth = 141.869932; finalDepth = 151.389896; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:151.389896 # Seafloor depth:-191.389896 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 181.869932 meters looking forward 0.000000 meters along route # Maximum depth: 181.869932 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 141.869932 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.746396; longitude = -117.368404; captureRadius = 10; duration = 60; initialDepth = 132.379772; finalDepth = 141.869932; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:141.869932 # Seafloor depth:-181.869932 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 172.379772 meters looking forward 0.000000 meters along route # Maximum depth: 172.379772 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 132.379772 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.746671; longitude = -117.367936; captureRadius = 10; duration = 60; initialDepth = 123.594229; finalDepth = 132.379772; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:132.379772 # Seafloor depth:-172.379772 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 163.594229 meters looking forward 0.000000 meters along route # Maximum depth: 163.594229 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 123.594229 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.746937; longitude = -117.367483; captureRadius = 10; duration = 60; initialDepth = 112.528294; finalDepth = 123.594229; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:123.594229 # Seafloor depth:-163.594229 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 152.528294 meters looking forward 0.000000 meters along route # Maximum depth: 152.528294 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 112.528294 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.747208; longitude = -117.367022; captureRadius = 10; duration = 60; initialDepth = 97.442269; finalDepth = 112.528294; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:112.528294 # Seafloor depth:-152.528294 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 137.442269 meters looking forward 0.000000 meters along route # Maximum depth: 137.442269 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 97.442269 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.747479; longitude = -117.366562; captureRadius = 10; duration = 60; initialDepth = 82.624164; finalDepth = 97.442269; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:97.442269 # Seafloor depth:-137.442269 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 122.624164 meters looking forward 0.000000 meters along route # Maximum depth: 122.624164 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 82.624164 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.747749; longitude = -117.366101; captureRadius = 10; duration = 60; initialDepth = 72.978693; finalDepth = 82.624164; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:82.624164 # Seafloor depth:-122.624164 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 112.978693 meters looking forward 0.000000 meters along route # Maximum depth: 112.978693 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 72.978693 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.748020; longitude = -117.365641; captureRadius = 10; duration = 60; initialDepth = 67.982014; finalDepth = 72.978693; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:72.978693 # Seafloor depth:-112.978693 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 107.982014 meters looking forward 0.000000 meters along route # Maximum depth: 107.982014 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 67.982014 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.748291; longitude = -117.365180; captureRadius = 10; duration = 60; initialDepth = 66.879627; finalDepth = 67.982014; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:67.982014 # Seafloor depth:-107.982014 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 106.879627 meters looking forward 0.000000 meters along route # Maximum depth: 106.879627 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 66.879627 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.748561; longitude = -117.364719; captureRadius = 10; duration = 60; initialDepth = 65.846164; finalDepth = 66.879627; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:66.879627 # Seafloor depth:-106.879627 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 60.876159 meters # Minimum depth: 105.846164 meters looking forward 0.000000 meters along route # Maximum depth: 105.846164 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 65.846164 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.748834; longitude = -117.364255; captureRadius = 10; duration = 60; initialDepth = 64.749888; finalDepth = 65.846164; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:65.846164 # Seafloor depth:-105.846164 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # ####################################################### # Turn Mapping sonars on and start logging. # behavior reson { duration = 6; Log_Mode = 1; } # Set sonar parameters # Commanded altitude: 40 # Sonar parameter altitude: 50 # Commanded vehicle depth:64.749888 # Seafloor depth:-104.749888 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Gain = 128.0; SBP_Duration = 450.000; LoSS_Mode = 1; LoSS_Power = 100.0; LoSS_Range = 337.50; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 337.5; MB_Power = 220; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; Snippet_Mode = 1; Window_Size = 200; Log_Mode = 0; } # ####################################################### # # Waypoint_depth behavior to get to start of line 1 # Segment length 60.876159 meters # Minimum depth: 104.749888 meters looking forward 0.000000 meters along route # Maximum depth: 104.749888 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 875.435657 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 64.749888 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.749148; longitude = -117.363721; captureRadius = 10; duration = 600; initialDepth = 64.749888; finalDepth = 64.749888; maxCrossTrackError = 30; speed = 1.500000; } # ####################################################### ####################################################### # # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 235.408658; pitch = -30.000000; speed = 1.500000; maxDepth = 3.000000; minAltitude = 50.000000; duration = 300; } # # setpoint on surface to gather momentum behavior setpoint { duration = 30; heading = 235.408658; speed = 1.500000; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = 600; minHits = 2; abortOnTimeout = True; } ####################################################### # Set sonar parameters, turn pinging on, power zero and logging off # behavior reson { duration = 6; MB_Mode = 1; Log_Mode = 0; SBP_Mode = 0; SBP_Power = 0.0; SBP_Gain = 128.0; SBP_Duration = 450.000; LoSS_Mode = 0; LoSS_Power = 0.0; LoSS_Range = 200.00; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 200; MB_Power = 0; MB_Range = 160.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.00; MB_Bottom_Detect_Filter_Max_Range = 160.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; Snippet_Mode = 1; Window_Size = 200; } # ####################################################### #######################################################